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|Title:||Adaptive robust stabilization of dynamic nonholonomic chained systems|
|Authors:||Ge, S.S. |
|Source:||Ge, S.S.,Zhou, G.Y. (2000). Adaptive robust stabilization of dynamic nonholonomic chained systems. Proceedings of the IEEE Conference on Decision and Control 2 : 1445-1450. ScholarBank@NUS Repository.|
|Abstract:||In this paper, the stabilization problem is investigated for dynamic nonholonomic systems with unknown inertia parameters and disturbances. Firstly, the nonholonomic kinematic subsystem is transformed into a skew-symmetric form and the properties of the overall systems are discussed. Then, a robust adaptive controller is presented where adaptive control technique is used to compensate for the parametric uncertainties and sliding mode control is to suppress the bounded disturbances. The controller guarantees the outputs of the dynamic subsystem to track some bounded auxiliary signals which subsequently drive the kinematic subsystem to the origin. Simulation study on the control of a unicycle wheeled mobile robot shows the effectiveness of the proposed approach.|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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