Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance

• Main Authors: Huang, Jiangshuai, Wen, Changyun, Wang, Wei, Jiang, Zhong-Ping
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: https://hdl.handle.net/10356/96179; http://hdl.handle.net/10220/17648
• Institution: Nanyang Technological University

In this paper, we deal with the problem of global tracking and stabilization control of internally damped mobile robots with unknown parameters, and subject to input torque saturation and external disturbances. To overcome the difficulties due to these factors, a new adaptive scheme is proposed to e...