Journal
AUTOMATICA
Volume 50, Issue 3, Pages 821-831Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.12.036
Keywords
Adaptive output feedback; Nonholonomic mobile robots; High-gain observer
Funding
- NSF [ECCS-1230040, ECCS-1101401]
- NSF of China [61203068]
- Direct For Mathematical & Physical Scien
- Division Of Mathematical Sciences [0906659] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1230040] Funding Source: National Science Foundation
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An adaptive output feedback tracking controller for nonholonomic mobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new adaptive state feedback controller and two high-gain observers to estimate the unknown linear and angular velocities respectively. It is shown that the closed loop adaptive system is stable and the tracking errors are guaranteed to be within the pre-specified bounds which can be arbitrarily small. Simulation results also verify the effectiveness of the proposed scheme. (C) 2014 Elsevier Ltd. All rights reserved.
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