TY - GEN
T1 - Robust adaptive path following control of nonholonomic mobile robots with transverse function approach
AU - Chen, Gang
AU - Gao, Tingting
AU - Huang, Jiangshuai
AU - Wang, Wei
AU - Jia, Qingwei
N1 - Publisher Copyright:
© 2014 TCCT, CAA.
PY - 2014/9/11
Y1 - 2014/9/11
N2 - In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.
AB - In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.
KW - Nonholonomic mobile robots
KW - Path following control
KW - Robust adaptive control
KW - Transverse function approach
UR - https://www.scopus.com/pages/publications/84907938675
U2 - 10.1109/ChiCC.2014.6896480
DO - 10.1109/ChiCC.2014.6896480
M3 - 会议稿件
AN - SCOPUS:84907938675
T3 - Proceedings of the 33rd Chinese Control Conference, CCC 2014
SP - 8801
EP - 8805
BT - Proceedings of the 33rd Chinese Control Conference, CCC 2014
A2 - Xu, Shengyuan
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - Proceedings of the 33rd Chinese Control Conference, CCC 2014
Y2 - 28 July 2014 through 30 July 2014
ER -