Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/71649
Title: Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint
Authors: Wang, Z.P. 
Su, C.Y.
Lee, T.H. 
Ge, S.S. 
Issue Date: 2004
Source: Wang, Z.P.,Su, C.Y.,Lee, T.H.,Ge, S.S. (2004). Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint. 2004 8th International Conference on Control, Automation, Robotics and Vision (ICARCV) 2 : 987-992. ScholarBank@NUS Repository.
Abstract: In this paper, robust adaptive control strategy is presented for a wheeled mobile robot in the presence of model perturbations that violates the nonholonomic assumption. The nonholonomic constraint of the vehicle is assumed to be violated by an unknown slip-page. Consequently, a perturbed kinematice model of the system is obtained. Using backstepping, the proposed controller is constructed at the dynamical level. The robust adaptive controller is to eliminate the needs for the LIP form of the system dynamics and the exact bounds of the system dynamics. All the system states are shown to be able to track the desired trajectory. The simulation results demonstrate the effectiveness of the proposed controllers. © 2004 IEEE.
Source Title: 2004 8th International Conference on Control, Automation, Robotics and Vision (ICARCV)
URI: http://scholarbank.nus.edu.sg/handle/10635/71649
ISBN: 0780386531
Appears in Collections:Staff Publications

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