Robust Tracking Control of a Nonholonomic Mobile Robot in the Presence of Disturbances
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- WADA Nobutaka
- Dept. of Mechanical System Engineering, Hiroshima University
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- SAEKI Masami
- Dept. of Mechanical System Engineering, Hiroshima University
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- CHEN Haijun
- Dept. of Mechanical System Engineering, Hiroshima University
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Abstract
In this paper, we consider the tracking control problem of a nonholonomic mobile robot in the presence of bounded disturbances. We propose a method for modifying the control law of Jiang et al. (1997) so that the resulting control law guarantees global stability and the tracking error converges to a neighborhood about zero that can be made arbitrary small in the presence of disturbances. Further, we show that the tracking error converge to zero in the absence of disturbances. A numerical example is provided to show effectiveness of the method.
Journal
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- JSME International Journal Series C
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JSME International Journal Series C 47 (2), 694-701, 2004
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001204680674560
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- NII Article ID
- 110004820792
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- NII Book ID
- AA11179487
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- ISSN
- 1347538X
- 13447653
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- NDL BIB ID
- 6970256
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed