@article{82deede751444da4b6e1019ce64fb744,
title = "Adaptive output feedback tracking control of a nonholonomic mobile robot",
abstract = "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.",
keywords = "Adaptive output feedback, High-gain observer, Nonholonomic mobile robots",
author = "Jiangshuai Huang and Changyun Wen and Wei Wang and Jiang, {Zhong Ping}",
note = "Funding Information: He is an Editor for the International Journal of Robust and Nonlinear Control and has served as an Associate Editor for several journals including Mathematics of Control, Signals and Systems (MCSS), Systems & Control Letters, IEEE Transactions on Automatic Control, European Journal of Control and Science China: Information Sciences. He is a recipient of the prestigious Queen Elizabeth II Fellowship Award from the Australian Research Council, the CAREER Award from the U.S. National Science Foundation, and the Young Investigator Award from the NSF of China. Recent awards recognizing his research work include the Best Theory Paper Award (with Y. Wang) at the 2008 WCICA, and the Guan Zhao Zhi Best Paper Award (with T. Liu and D. Hill) at the 2011 CCC, and the Shimemura Young Author Prize (with his student Yu Jiang) at the 2013 Asian Control Conference in Istanbul, Turkey. Funding Information: This work has been partially supported by NSF grants ECCS-1230040 and ECCS-1101401 , and NSF of China (Grant No. 61203068 ). The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Xiaobo Tan under the direction of Editor Miroslav Krstic. Copyright: Copyright 2014 Elsevier B.V., All rights reserved.",
year = "2014",
month = mar,
doi = "10.1016/j.automatica.2013.12.036",
language = "English (US)",
volume = "50",
pages = "821--831",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier Limited",
number = "3",
}