An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty
نویسندگان
چکیده
منابع مشابه
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 uncertainty. This task is achieved by a non smooth transformation in the original system followed by t...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2005
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5801