Title: Robust adaptive control of non-holonomic mobile robots with uncertain constraints

Authors: Ryuji Michino; Ikuro Mizumoto

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

Abstract: In this paper, a robust adaptive controller design method for non-holonomic mobile robots with the state depended uncertainties in the non-holonomic constraints is proposed. The considered uncertainties are Lipschitz. The designed robust adaptive controller is rather a 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.

Keywords: adaptive control; uncertain constraints; uncertainty; non-holonomic constraints; high gain feedback; robust control; non-holonomic robots; mobile robots; robot control.

DOI: 10.1504/IJAMECHS.2013.059793

International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.5, pp.317 - 325

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 12 Mar 2014 *

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