Adaptive exponential stabilization of mobile robots with unknown constant-input disturbance

Authors
Wu, WG Chen, HT Wang, YJ Woo, PY
Citation
Wg. Wu et al., Adaptive exponential stabilization of mobile robots with unknown constant-input disturbance, J ROBOTIC S, 18(6), 2001, pp. 289-294
Citations number
17
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF ROBOTIC SYSTEMS
ISSN journal
07412223 → ACNP
Volume
18
Issue
6
Year of publication
2001
Pages
289 - 294
Database
ISI
SICI code
0741-2223(200106)18:6<289:AESOMR>2.0.ZU;2-N
Abstract
This paper concentrates on the discussions on stabilization of mobile robot s with unknown constant-input disturbance. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapun ov approach. With the property of homogeneous systems, uncertain mobile rob ots governed by the proposed control algorithms become homogeneous of order 0 to achieve exponential stability Simulation results validate the theoret ical analysis. (C) 2001 John Wiley & Sons, Inc.