Adaptive tracking control for nonholonomic systems with unknown parameters

被引：10
|
作者：
Wang, HY [1 ]
Fukao, T [1 ]
Adachi, N [1 ]
机构：
[1] Kyoto Univ, Grad Sch Informat, Sakyo Ku, Kyoto 6068501, Japan
来源：
ADVANCED ROBOTICS | 2002年 / 16卷 / 02期
关键词：
nonholonomic chained form system; adaptive tracking control; nonholonomic mobile robot; backstepping; unknown parameters;
D O I：
10.1163/156855302760064228
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
An adaptive control method for a special chained form system with drift terms and unknown parameters is discussed. Tracking controllers have been considered to be effective for solving the problem of the stability of nonholonomic control systems. Since a tracking control system can be transformed to the special chained form system, a tracking controller using the backstepping method is proposed for the nonholonomic chained form system. The asymptotic stability of the system is guaranteed by using Lyapunov's direct method and using adaptive control method, an adaptive controller is proposed for the nonholonomic system with unknown parameters. The ability of the proposed controller is illustrated by simulations. Furthermore, based on a nonholonomic mobile robot, a typical example of nonholonomic system, we demonstrate the efficiency of the proposed method.
引用
收藏
页码：175 / 190
页数：16
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