文章基本信息

标题：Global tracking-stabilization control of mobile robots with parametric uncertainty * * The work of the third author is supported by Government of Russian Federation (grant 074-U01)
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作者：Mohamed Maghenem ; Antonio Loria ; Elena Panteley 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：4114-4119
DOI：10.1016/j.ifacol.2017.08.797
语种：English
出版社：Elsevier
摘要：AbstractWe present a simple time-varying controller for tracking problem of mobile robots. We consider the full model of autonomous vehicles, including both the kinematics and the Lagrangian dynamics equations. Our control approach relies on designing a controller at the kinematics level, under any integrable virtual leader velocities, which is robust to any controller, at the torc level, that guarantees that the velocity errors are square integrable. In addition, we assume that the inertia is unknown hence, we use a passivity-based adaptive controller that guarantees the convergence of the velocity tracking errors.
关键词：KeywordsTracking controladaptive controlstabilizationnonholonomic systems