An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty
This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncer...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2005-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5801 |
| _version_ | 1818211337050783744 |
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| author | F. Mnif F. Touati |
| author_facet | F. Mnif F. Touati |
| author_sort | F. Mnif |
| collection | DOAJ |
| description | This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory. |
| first_indexed | 2024-12-12T05:30:53Z |
| format | Article |
| id | doaj.art-8929ae6d3bda419d9108e329ace809bc |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-12T05:30:53Z |
| publishDate | 2005-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8929ae6d3bda419d9108e329ace809bc2022-12-22T00:36:19ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142005-03-01210.5772/580110.5772_5801An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric UncertaintyF. Mnif0F. Touati1 Institut National des Sciences Appliquées et de Technologie, Intelligent Control, Design and Optimization of Complex Systems Research Unit, Tunisia Sultan Qaboos University, Department of Electrical and Computer Engineering, OmanThis paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.https://doi.org/10.5772/5801 |
| spellingShingle | F. Mnif F. Touati An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty International Journal of Advanced Robotic Systems |
| title | An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty |
| title_full | An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty |
| title_fullStr | An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty |
| title_full_unstemmed | An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty |
| title_short | An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty |
| title_sort | adaptive control scheme for nonholonomic mobile robot with parametric uncertainty |
| url | https://doi.org/10.5772/5801 |
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