Simultaneous tracking and stabilization of mobile robots: An adaptive approach

K. D. Do; Z. P. Jiang; J. Pan

doi:10.1109/TAC.2004.831139

Simultaneous tracking and stabilization of mobile robots: An adaptive approach

K. D. Do, Z. P. Jiang, J. Pan

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English (US)
Pages (from-to)	1147-1152
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	49
Issue number	7
DOIs	https://doi.org/10.1109/TAC.2004.831139
State	Published - Jul 2004

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TAC.2004.831139

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title = "Simultaneous tracking and stabilization of mobile robots: An adaptive approach",

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.",

author = "Do, {K. D.} and Jiang, {Z. P.} and J. Pan",

year = "2004",

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AB - 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.

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JO - IEEE Transactions on Automatic Control

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Simultaneous tracking and stabilization of mobile robots: An adaptive approach

Abstract

ASJC Scopus subject areas

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