Simultaneous tracking and stabilization of mobile robots

An adaptive approach

K. D. Do, Zhong-Ping Jiang, J. Pan

Research output: Contribution to journalArticle

Abstract

This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and back-stepping technique. Simulations illustrate the effectiveness of the proposed controller.

Original languageEnglish (US)
Pages (from-to)1147-1152
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume49
Issue number7
DOIs
StatePublished - Jul 2004

Fingerprint

Mobile robots
Stabilization
Controllers
Kinematics
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Simultaneous tracking and stabilization of mobile robots : An adaptive approach. / Do, K. D.; Jiang, Zhong-Ping; Pan, J.

In: IEEE Transactions on Automatic Control, Vol. 49, No. 7, 07.2004, p. 1147-1152.

Research output: Contribution to journalArticle

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