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...

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Bibliographic Details
Main Authors: F. Touati, F. Mnif
Format: Article
Language:English
Published: SAGE Publishing 2008-11-01
Series:International Journal of Advanced Robotic Systems
Subjects:
Online Access:http://www.intechopen.com/articles/show/title/an_adaptive_control_scheme_for_nonholonomic_mobile_robot_with_parametric_uncertainty