Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.11b
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- Pages.15-18
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- 2003
Adaptive Control of a Nonholonomic Mobile Robot with Parametric Uncertainty
불확실한 파라미터를 갖는 비홀로노믹 이동로봇의 적응제어
Abstract
This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.