Adaptive tracking control of nonholonomic systems: an example


Lefeber, Erjen and Nijmeijer, Henk (1999) Adaptive tracking control of nonholonomic systems: an example. In: 38th Conference on Decision and Control, 1999, December 7-10, 1999, Phoenix, Arizona (pp. pp. 2094-2099).

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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
Item Type:Conference or Workshop Item
Copyright:©1999 IEEE
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