Adaptive Control for a Mobile Robot under Slip Conditions using an LMI-based Approach
نویسندگان
چکیده
This paper presents the synthesis of a control law which guarantees asymptotic stability for a wheeled mobile robot under slip conditions subject to both constraints and system dynamics. This control law is obtained using Linear Matrix Inequalities. The improvements provided by the proposed adaptive control are compared with other control laws, dealing with slip effect, through simulation.
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