Adaptive tracking control of nonholonomic systems: an example

A.A.J. Lefeber, Henk Nijmeijer

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    9 Citations (Scopus)
    61 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 languageUndefined
    Title of host publication38th Conf. on Decision and Control
    Place of PublicationPhoenix
    PublisherIEEE
    Pages2094-2099
    Number of pages6
    DOIs
    Publication statusPublished - 24 Jan 1999
    Event38th IEEE Conference on Decision and Control, CDC 1999 - Phoenix, United States
    Duration: 7 Dec 199910 Dec 1999
    Conference number: 38

    Publication series

    Name
    PublisherIEEE
    Volume3

    Conference

    Conference38th IEEE Conference on Decision and Control, CDC 1999
    Abbreviated titleCDC
    CountryUnited States
    CityPhoenix
    Period7/12/9910/12/99

    Keywords

    • METIS-141458
    • IR-30817

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