Referenced Items are not available for this document.
A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:16
,
Issue:
5
)
Date of Publication: Oct 2000
- Page(s):
- 609 - 615
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 6759896
- Digital Object Identifier :
- 10.1109/70.880812
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Oct 2000
- Sponsored by :
- IEEE Robotics and Automation Society
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