Adaptive controller for non-holonomic mobile robots with matched uncertainties
نویسندگان
چکیده
This paper deals with the backstepping approach for the design of adaptive discontinuous time-invariantcontrollersfor the point-stabilizationof mobile robotswith matched uncertainties. First of all, we derive a control law in the disturbance-freecase guaranteeingexponential convergence for a unicycle-likemobile robot. Furthermore, an adaptive version of the previous control law is proposed when the mobile robot is subjected to input disturbances. Finally, simulation results are presented.
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عنوان ژورنال:
- Advanced Robotics
دوره 14 شماره
صفحات -
تاریخ انتشار 2000