By Topic

Adaptive robust time-varying control of uncertain non-holonomic robotic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $33
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
K. Shojaei ; Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran ; A. M. Shahri

This study addresses the trajectory tracking control problem of dynamic non-holonomic robotic systems in chained form in presence of parametric and non-prarametric uncertainties. At first, a global adaptive tracking controller is designed by exploiting the full use of the backstepping technique. Then, the proposed controller is modified to preserve its robustness to non-parametric uncertainties. In contrast to most of the previously developed kinematic and dynamic tracking controllers, the proposed controller makes all tracking errors and parameter estimation errors be at least globally uniformly ultimately bounded (GUUB) and exponentially converge to a small ball containing the origin. A Lyapunov-based stability analysis is presented to guarantee the GUUB stability of the tracking errors. The controller is applied to a non-holonomic wheeled mobile robot and simulation results are presented to illustrate the effectiveness of the proposed control law.

Published in:

IET Control Theory & Applications  (Volume:6 ,  Issue: 1 )