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Simultaneous tracking and stabilization of mobile robots: an adaptive approach

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3 Author(s)
Do, K.D. ; Sch. of Mech. Eng., Univ. of Western Australia, Perth, WA, Australia ; Jiang, Z.-P. ; Pan, J.

This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.

Published in:

Automatic Control, IEEE Transactions on  (Volume:49 ,  Issue: 7 )