System Maintenance:
There may be intermittent impact on performance while updates are in progress. We apologize for the inconvenience.
By Topic

Adaptive motion control of a nonholonomic vehicle

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
$31 $13
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

5 Author(s)
Gusev, S.V. ; Dept. of Math. & Mech., St. Petersburg State Univ., Russia ; Makarov, I.A. ; Paromtchik, I.E. ; Yakubovich, V.A.
more authors

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