An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

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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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Main Authors: F. Mnif, F. Touati
Format: Article
Language:English
Published: SAGE Publishing 2005-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5801
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spelling doaj-8929ae6d3bda419d9108e329ace809bc2020-11-25T03:52:03ZengSAGE 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
collection DOAJ
language English
format Article
sources DOAJ
author F. Mnif
F. Touati
spellingShingle F. Mnif
F. Touati
An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty
International Journal of Advanced Robotic Systems
author_facet F. Mnif
F. Touati
author_sort F. Mnif
title 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_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_sort adaptive control scheme for nonholonomic mobile robot with parametric uncertainty
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2005-03-01
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.
url https://doi.org/10.5772/5801
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AT ftouati anadaptivecontrolschemefornonholonomicmobilerobotwithparametricuncertainty
AT fmnif adaptivecontrolschemefornonholonomicmobilerobotwithparametricuncertainty
AT ftouati adaptivecontrolschemefornonholonomicmobilerobotwithparametricuncertainty
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