Adaptive tracking control of high-order non-holonomic mobile robot systems

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Title:	Adaptive tracking control of high-order non-holonomic mobile robot systems
Authors:	Huang, JT (Huang, J. -T.)
Contributors:	機電所
Date:	2009
Issue Date:	2011-11-30 15:00:12 (UTC+8)
Abstract:	A backstepping-based tracking control design for uncertain mobile robot systems with non-holonomic constraints is presented. For avoiding the singularity and the necessity of the repeated differentiation of the virtual controller, high-degree polynomials of the affine functions are generally included in many existing kinematic controllers. That unfortunately would cause the possible blowup of the actuators for high-order kinematic systems (e. g. a trailer-type mobile robot) in high-speed motions. Regarding this, an exponentially modulated linear stabilising function is included in this design to alleviate such a difficulty. Next at the dynamic design level, an adaptive control algorithm is developed for attaining the global asymptotic tracking stability of the overall closed-loop system. Two case studies of a unicycle-like and a trailer-type wheeled mobile robots are conducted in the final to demonstrate the effectiveness of the proposed design.
Appears in Collections:	[Department of Mechanical Engineering ] journal articles

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