An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty | Zendy

F. Mnif | Zendy; Farid Touati | Zendy

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An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

Author(s) -

F. Mnif,

Farid Touati

Publication year - 2005

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5801

Subject(s) - nonholonomic system , control theory (sociology) , computer science , lyapunov stability , parametric statistics , convergence (economics) , lyapunov function , adaptive control , mobile robot , controller (irrigation) , stability (learning theory) , transformation (genetics) , robot , control (management) , mathematics , artificial intelligence , nonlinear system , biochemistry , statistics , physics , chemistry , quantum mechanics , machine learning , gene , agronomy , economics , biology , economic growth

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory

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