Abstract
This paper deals with control of nonholonomic mobile robot using Immersion and Invariance (IandI) adaptive control. I&I is a framework for adaptive stabilization of nonlinear systems with uncertainties parameter. We investigated the tracking control of nonholonomic mobile robot with uncertainties in dynamic and kinematics. We applied I&I adaptive control to control the angular and linear velocity of nonholonomic mobile robot. In this paper, we showed the integration of kinematic controller and torque controller for nonholonomic mobile robot. We investigated the control performance of nonholonomic mobile robot using I&I adaptive control. The results demonstrate the ability of I&I adaptive control as system velocity control of nonholonomic mobile robot.
| Original language | English |
|---|---|
| Title of host publication | 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781479917587 |
| DOIs | |
| State | Published - 4 Dec 2015 |
Publication series
| Name | 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015 |
|---|
Bibliographical note
Publisher Copyright:© 2015 IEEE.
Keywords
- Adaptive Control
- Immersion and Invariance
- Nonholonomic Mobile Robot
- Uncertainties
ASJC Scopus subject areas
- Signal Processing
- Computer Networks and Communications
- Control and Systems Engineering
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