TY - ABST T1 - Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty Y1 - 2005 A1 - A. Bicchi A1 - A. Caiti A1 - D. Fontanelli A1 - L. Greco A1 - R. Viviani KW - Embedded Control KW - Robotics AB -

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

PB - Dipartimento di Sistemi Elettrici e Automazione, Università di Pisa ER -