Adaptive exponential stabilization of mobile robots with uncertainties

Weiguo Wu; Huitang Chen; Yuejuan Wang; Pengyung Woo

Adaptive exponential stabilization of mobile robots with uncertainties

Weiguo Wu^*
, Huitang Chen
, Yuejuan Wang
, Pengyung Woo

^*Corresponding author for this work

Tongji University

Research output: Contribution to journal › Conference article › peer-review

18 Scopus citations

Abstract

This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis.

Original language	English
Pages (from-to)	3484-3489
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	4
State	Published - 1999
Externally published	Yes
Event	The 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA Duration: 7 Dec 1999 → 10 Dec 1999

Cite this

@article{fa8c330b48574c428d720ba2eca62641,

title = "Adaptive exponential stabilization of mobile robots with uncertainties",

abstract = "This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis.",

author = "Weiguo Wu and Huitang Chen and Yuejuan Wang and Pengyung Woo",

year = "1999",

language = "英语",

volume = "4",

pages = "3484--3489",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "The 38th IEEE Conference on Decision and Control (CDC) ; Conference date: 07-12-1999 Through 10-12-1999",

}

TY - JOUR

T1 - Adaptive exponential stabilization of mobile robots with uncertainties

AU - Wu, Weiguo

AU - Chen, Huitang

AU - Wang, Yuejuan

AU - Woo, Pengyung

PY - 1999

Y1 - 1999

N2 - This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis.

AB - This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis.

UR - https://www.scopus.com/pages/publications/0033307610

M3 - 会议文章

AN - SCOPUS:0033307610

SN - 0743-1546

VL - 4

SP - 3484

EP - 3489

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - The 38th IEEE Conference on Decision and Control (CDC)

Y2 - 7 December 1999 through 10 December 1999

ER -

Adaptive exponential stabilization of mobile robots with uncertainties

Abstract

Other files and links

Fingerprint

Cite this