Adaptive robust control of nonholonomic wheeled mobile robots

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 16, Issue , 2005, Pages 475-480

  Wang, Tai Yu ^a   Tsai, Ching Chih ^b  

^a NAN KAI UNIVERSITY OF TECHNOLOGY   (Taiwan)

^b NATIONAL CHUNG HSING UNIVERSITY   (Taiwan)

Author keywords

Adaptive control; Mobile robot; Nonlinear characteristics; Path tracking; Robust control

Indexed keywords

NAVIGATION; ROBUST CONTROL;

ADAPTIVE BACKSTEPPING PATH TRACKING; ADAPTIVE CONTROL; ADAPTIVE ROBUST CONTROL; DRIVING CHARACTERISTICS; NONHOLONOMIC WHEELED MOBILE ROBOTS; NONLINEAR CHARACTERISTICS; PATH TRACKING; ROBUST PATH TRACKING;

MOBILE ROBOTS;

EID: 79960737125     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.01349     Document Type: Conference Paper

References (11)

1. Bloch, A. M., Reyhanoglu, M., and McClamroch, N. H., 1992, Control and stabilizability of nonholonomic dynamic systems, in IEEE Trans. On Automatic Control, 37, No.11, pp.1746-1757.
2. Boquete, V. R. Garcia, R. Barea and M. Mazo, (1999). Neural control of the movements of a wheelchair, J. of Intelligent and Robotic Systems, 25 (3): 213-26.
3. Dixon, W. E. D. M. Dawson, E. Zergeroglu and A. Behal. (2001) Nonlinear control of wheeled mobile robots, Springer.
4. Fukao, T., Nakagawa, H., and Adachi, N. Adaptive tracking control of a nonholonomic mobile Robot, IEEE Trans. Robotics and Automation, vol. 16, no. 5, pp. 609-615, October 2000.
5. Jiang, Z.P. and H. Nijmeijer. (1997) Tracking control of mobile robots: A case study in backstepping, Automatica, vol.33, pp.1393-1399.
6. Kanayama, Y.J. Y. Kimura, F. Miyazaki, and T. Noguchi. (1990) A stable tracking control scheme for an autonomous mobile robot. Proc. IEEE Int. Conf. Robotics and Automation, pp.384-389.
7. Oelen, W. and J. Amerongen Van (1994). Robust tracking control of two-degree-freedom mobile robots. Control Engineering Practice, vol.2, pp.333-340.
8. Ollero, A. A. G. Cerezo and J. V. Martinez. (1994) Fuzzy supervisory path tracking of mobile robot, Control Engineering Practice, 2 (2): 313-19.
9. Samon, C., 1991, Velocity and torque feedback control of a nonholonomic cart, In Lecture Notes in Control and Information Science, C. Canudas de wit, Ed. Berlin, Germany: Springer-Verlag, pp. 125-151.
10. Samson, C. (1995) Control of chained systems applications to path following and time-varying point-stabilization of mobile robots, IEEE Trans.on Robotics and Automation, vol. 40, no. 1, pp. 64-77, Jan.
11. Yang, J. M. and J. H. Kim. (1999) Sliding mode control for tracking of nonholonomic wheeled mobile robots, IEEE Trans. on Robotics and Automation, 15 (3): 578-587.