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 |
| Published: |
SAGE Publishing
2005-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5801 |