An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty
This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncer...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/an_adaptive_control_scheme_for_nonholonomic_mobile_robot_with_parametric_uncertainty |