Adaptive H∞ control of nonholonomic systems based on inverse optimality and its application to mobile robot

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 3046-3051

  Miyasato, Yoshihiko ^a  

^a INSTITUTE OF STATISTICAL MATHEMATICS   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL EQUIPMENT; ERROR ANALYSIS; FEEDBACK CONTROL; MOBILE ROBOTS; PARAMETER ESTIMATION; UNCERTAIN SYSTEMS;

INVERSE OPTIMALITY; NONHOLONOMIC SYSTEMS; UNCERTAIN MEASUREMENT ERROR;

ADAPTIVE SYSTEMS;

EID: 39649116885     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. Z. P. Jiang, "Robust exponential regulation of nonholonomic systems with uncertainties", Automatica, vol. 36, no. 2, pp. 189-209, 2000.
2. S. S. Ge, Z. Wang, and T. H. Lee, "Adaptive stabilization of uncertain nonholonomic systems by state and output feedback", Automatica, vol. 39, no. 8, pp. 1451-1460, 2003.
3. Y. Miyasato, "Adaptive control of nonholonomic systems based on inverse optimality and its application to mobile robot", Advanced Robust and Adaptive Control ∼ Theory and Application ∼ , Tsinghua University Press, Springer, pp. 163-178, 2005.
4. M. Krstić and H. Deng, Stabilization of Nonlinear Uncertain Systems, Springer, 1998.
5. Y. Miyasato, "Redesign of adaptive control systems based on the notion of optimality," Proc. 38th IEEE Conf. Dec. Contr., pp.3315-3320, 1999.
6. ∞ control for processes with bounded variations of parameters ∼general relative degree case∼," Proc. 39th IEEE Conf. Dec. Contr., pp. 1453-1458, 2000.
7. ∞ control systems via neural network approximators," Proc. 40th IEEE Conf. Dec. Contr., pp.3158-3163, 2001.
8. M. Krstić, I. Kanellakopoulos, and P. V. Kokotović, Nonlinear and Adaptive Control Design, John Wiley & Suns, 1995.
9. A. Astolfi, "Discontinuous control of nonholonomic systems", Syst. Contr. Lett., Vol. 27, pp. 37-45, 1996.