Title: High gain adaptive control for a class of uncertain non-holonomic systems

Authors: Ryuji Michino; Ikuro Mizumoto

Addresses: Kumamoto Industrial Research Institute, 3-11-38 Higashi-machi, Kumamoto 862-0901, Japan. ' Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan

Abstract: It is well known that high gain feedback is one of the most powerful controller design technique for uncertain controlled systems. In this paper, a controller design method of high gain adaptive feedback for non-holonomic systems with unknown system parameters and a class of unbounded uncertainties and/or disturbances is proposed. The considered unbounded uncertainties and/or disturbances are decomposed by a known function and unknown constants. The designed adaptive controller is a rather simple structure, since it has only one adaptive adjusting term which is a feedback gain designed based on high gain technique. Further, the controller achieves not only the stability of the controlled system but also convergence to a small region around origin by increasing the design parameters. The application of the controller to a non-holonomic wheeled mobile robot is considered as an illustrative example.

Keywords: high gain adaptive control; non-holonomic systems; controller design; uncertainties; disturbances; wheeled robots; mobile robots; robot control; non-holonomic robots.

DOI: 10.1504/IJAMECHS.2011.042619

International Journal of Advanced Mechatronic Systems, 2011 Vol.3 No.3, pp.230 - 239

Published online: 19 Sep 2011 *

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