IEEE Transactions on Robotics and Automation · 2000 · 802 citations · 14 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot ControlRoboticsAdaptive ControlControl Of Dynamical SystemsDynamic ControlKinematic ControlMobile Robot ControlMotion ControlAdaptive BacksteppingAdaptive Backstepping ControlAdaptive TrackingAdaptive Tracking ControlBackstepping ControlNonholonomic ControlNonholonomic SystemsTorque
Mobile robots are classic nonholonomic systems, and prior work has integrated kinematic and torque controllers for their dynamic models. The paper proposes an adaptive extension of this integrated controller. The authors design an adaptive backstepping controller that first constructs a kinematic adaptive controller and then derives a torque controller, illustrated on a two‑wheel mobile robot.
A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller.
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Pétros Ioannou, Jing Sun · 1995 · 5.7K citations
A stable tracking control method for an autonomous mobile robot
Yutaka Kanayama, Yuuki Kimura, F. Miyazaki et al. · 2002 · 1.4K citations
Engineering, Mechanical Engineering, Robotics Engineering +16