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Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation
- Source :
- IEEE Transactions on Automatic Control. 67:6173-6179
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- This note investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function (RBF) approximations are used to estimate uncertain dynamics. Simulations are conducted to verify the effectiveness of the proposed controller.
Details
- ISSN :
- 23343303 and 00189286
- Volume :
- 67
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Automatic Control
- Accession number :
- edsair.doi...........79ba780e44f22d0aa227ae6ebd95c4bc