Adaptive tracking control of nonholonomic systems: an example

Erjen Lefeber; Henk Nijmeijer

doi:10.1109/CDC.1999.831228

Adaptive tracking control of nonholonomic systems: an example

Erjen Lefeber, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

100 Downloads (Pure)

Abstract

We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived

Original language	English
Title of host publication	Proceedings of the 38th IEEE Conference on Decision and Control, CDC 1999
Place of Publication	Los Alamitos, CA
Publisher	IEEE
Pages	2094-2099
Number of pages	6
Volume	3
ISBN (Print)	0-7803-5250-5
DOIs	https://doi.org/10.1109/CDC.1999.831228
Publication status	Published - 24 Jan 1999
Event	38th IEEE Conference on Decision and Control, CDC 1999 - Phoenix, United States Duration: 7 Dec 1999 → 10 Dec 1999 Conference number: 38

Publication series

Name	Proceedings IEEE Conference on Decision and Control (CDC)
Publisher	IEEE
Number	38
Volume	1999
ISSN (Print)	0191-2216

Conference

Conference	38th IEEE Conference on Decision and Control, CDC 1999
Abbreviated title	CDC
Country/Territory	United States
City	Phoenix
Period	7/12/99 → 10/12/99

Keywords

n/a OA procedure

Access to Document

10.1109/CDC.1999.831228

Cite this

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title = "Adaptive tracking control of nonholonomic systems: an example",

abstract = "We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived",

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author = "Erjen Lefeber and Henk Nijmeijer",

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booktitle = "Proceedings of the 38th IEEE Conference on Decision and Control, CDC 1999",

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note = "38th IEEE Conference on Decision and Control, CDC 1999, CDC ; Conference date: 07-12-1999 Through 10-12-1999",

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Lefeber, E & Nijmeijer, H 1999, Adaptive tracking control of nonholonomic systems: an example. in Proceedings of the 38th IEEE Conference on Decision and Control, CDC 1999. vol. 3, Proceedings IEEE Conference on Decision and Control (CDC), no. 38, vol. 1999, IEEE, Los Alamitos, CA, pp. 2094-2099, 38th IEEE Conference on Decision and Control, CDC 1999, Phoenix, Arizona, United States, 7/12/99. https://doi.org/10.1109/CDC.1999.831228

Adaptive tracking control of nonholonomic systems: an example. / Lefeber, Erjen; Nijmeijer, Henk.
Proceedings of the 38th IEEE Conference on Decision and Control, CDC 1999. Vol. 3 Los Alamitos, CA: IEEE, 1999. p. 2094-2099 (Proceedings IEEE Conference on Decision and Control (CDC); Vol. 1999, No. 38).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Adaptive tracking control of nonholonomic systems

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AU - Lefeber, Erjen

AU - Nijmeijer, Henk

N1 - Conference code: 38

PY - 1999/1/24

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N2 - We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived

AB - We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived

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VL - 3

T3 - Proceedings IEEE Conference on Decision and Control (CDC)

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BT - Proceedings of the 38th IEEE Conference on Decision and Control, CDC 1999

PB - IEEE

CY - Los Alamitos, CA

Y2 - 7 December 1999 through 10 December 1999

ER -

Adaptive tracking control of nonholonomic systems: an example

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Keywords

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