Regulation of a nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty using Lyapunov functions

• Type: Article in International Conference Proceedings Book
• Date: 2000

Authors

Aguiar, AP (Author) Other; Atassi, AN (Author) Other; Pascoal, AM (Author) Other

Conference proceedings International

Title: PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5

Pages: 2995-3000

39th IEEE Conference on Decision and Control

SYDNEY, AUSTRALIA, DEC 12-15, 2000

Indexing

ISI Web of Knowledge - 16 Citations

Scopus - 31 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-001-22S

DOI: 10.1109/cdc.2000.914276

Abstract (EN): This paper addresses the problem of regulating the dynamic model of a nonholonomic wheeled robot of the unicycle type to a point with a desired orientation. A simple controller is derived that yields global convergence of the trajectories of the closed loop system in the presence of parametric modeling uncertainty. Controller design relies on a non smooth coordinate transformation in the original state space, followed by the derivation of a Lyapunov-based, adaptive, smooth control law in the new coordinates. Convergence to the origin is analyzed and simulation results axe presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6