Simultaneous Tracking and Stabilization of Moble Robots: An Adaptive Approach

Duc Do, Z.P. Jiang, Jie Pan

Research output: Contribution to journalArticlepeer-review

172 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 languageEnglish
Pages (from-to)1147-1152
JournalIEEE Transactions on Automatic Control
Volume49
Issue number7
DOIs
Publication statusPublished - 2004

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