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Adaptive motion control of a nonholonomic vehicle

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5 Author(s)
Gusev, S.V. ; Dept. of Math. & Mech., St. Petersburg State Univ., Russia ; Makarov, I.A. ; Paromtchik, I.E. ; Yakubovich, V.A.
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The stabilization of the motion of a nonholonomic vehicle is considered. The control system developed has a two-level architecture. The lower control level operates within the kinematic model of the vehicle to stabilize its motion to a desired trajectory. The upper control level uses the dynamic model of the vehicle and stabilizes the feedback obtained on the lower control level. The operation of the control system is studied when unknown bounded disturbances affect the motion. The adaptive motion control is proposed to deal with uncertain dynamic parameters of the vehicle

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998