A novel adaptive robust control approach for underactuated mobile robot |
| |
| Authors: | Xiaolong Chen Han Zhao Hao Sun Shengchao Zhen Kang Huang |
| |
| Institution: | School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 23009, China |
| |
| Abstract: | Underactuated mobile robot (UMR) is a typical nonlinear underactuated system with nonholonomic and holonomic constraints. Based on the model of UMR, we propose a novel adaptive robust control to control the UMR and compensate the uncertainties from the view of constraint-following. The uncertainties, which are (possibly fast) time-varying and bounded, include modeling error, initial condition deviation, friction force and other external disturbances. However, the bounds are unknown. To estimate the bounds of the uncertainties, we design an adaptive law which is of leakage type. The uniform boundedness and the uniform ultimate boundedness of the proposed control are verified by Lyapunov method. Furthermore, the effectiveness of the control is shown via numerical simulation of a case. |
| |
| Keywords: | Corresponding author |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
