Robust adaptive control of non-holonomic mobile robots with uncertain constraints
by Ryuji Michino; Ikuro Mizumoto
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 5, No. 5, 2013

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.

Online publication date: Sat, 12-Jul-2014

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