Adaptive controller for non-holonomic mobile robots with matched uncertainties

Authors: Tayebi, Abdelhamid; Rachid, Ahmed

Source: Advanced Robotics, Volume 14, Number 2, 2000 , pp. 105-118(14)

Publisher: Taylor and Francis Ltd

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Abstract:

This paper deals with the backstepping approach for the design of adaptive discontinuous time-invariant controllers for the point-stabilization of mobile robots with matched uncertainties. First of all, we derive a control law in the disturbance-free case guaranteeing exponential convergence for a unicycle-like mobile robot. Furthermore, an adaptive version of the previous control law is proposed when the mobile robot is subjected to input disturbances. Finally, simulation results are presented.

Keywords: ADAPTIVE CONTROL; BACKSTEPPING METHOD; LYAPUNOV FUNCTION; MOBILE ROBOT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855300741474

Publication date: August 15, 2000

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