A Simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots / Bong Seok Park in IEEE Transactions on control systems technology, Vol. 18 N° 5 (Septembre 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1199-1206 Titre : A Simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots Type de document : texte imprimé Auteurs : Bong Seok Park, Auteur ; Sung, Jin Yoo, Auteur ; Jin Bae Park, Auteur Année de publication : 2011 Article en page(s) : pp. 1199-1206 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Actuator dynamics Adaptive control Dynamic surface design Nonholonomic mobile robotss Robot kinematics Index. décimale : 629.1 Résumé : Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325660 [article] A Simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots [texte imprimé] / Bong Seok Park, Auteur ; Sung, Jin Yoo, Auteur ; Jin Bae Park, Auteur . - 2011 . - pp. 1199-1206. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1199-1206 Mots-clés : Actuator dynamics Adaptive control Dynamic surface design Nonholonomic mobile robotss Robot kinematics Index. décimale : 629.1 Résumé : Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5325660

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