Simultaneous Tracking and Stabilization of Moble Robots: An Adaptive Approach

Duc Do; Z.P. Jiang; Jie Pan

doi:10.1109/TAC.2004.831139

Simultaneous Tracking and Stabilization of Moble Robots: An Adaptive Approach

Duc Do, Z.P. Jiang, Jie Pan

Research output: Contribution to journal › Article › peer-review

181 Citations (Scopus)

Abstract

This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilizationfor mobile robots with unknown kinematic and dynamic parameters.The controller synthesis is based on Lyapunov’s direct method and back-steppingtechnique.Simulations illustrate the effectiveness of the proposed controller.

Original language	English
Pages (from-to)	1147-1152
Journal	IEEE Transactions on Automatic Control
Volume	49
Issue number	7
DOIs	https://doi.org/10.1109/TAC.2004.831139
Publication status	Published - 2004

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title = "Simultaneous Tracking and Stabilization of Moble Robots: An Adaptive Approach",

abstract = "This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilizationfor mobile robots with unknown kinematic and dynamic parameters.The controller synthesis is based on Lyapunov{\textquoteright}s direct method and back-steppingtechnique.Simulations illustrate the effectiveness of the proposed controller.",

author = "Duc Do and Z.P. Jiang and Jie Pan",

year = "2004",

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AB - This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilizationfor mobile robots with unknown kinematic and dynamic parameters.The controller synthesis is based on Lyapunov’s direct method and back-steppingtechnique.Simulations illustrate the effectiveness of the proposed controller.

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DO - 10.1109/TAC.2004.831139

M3 - Article

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EP - 1152

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

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Simultaneous Tracking and Stabilization of Moble Robots: An Adaptive Approach

Abstract

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