01429nas a2200181   4500008004100000245008500041210006900126260003000195520078400225653002101009653001301030100001801043700001501061700001301076700001301089700001501102856013001117       2006                        eng d00aAdaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty0 aAdaptive non Linear Control of Dynamic Mobile Robots with Parame  aBologna, ItalycSeptember3 a<p>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.</p>
10aEmbedded Control10aRobotics1 aFontanelli, D1 aViviani, R1 aGreco, L1 aCaiti, A1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/adaptive-non-linear-control-dynamic-mobile-robots-parameters-uncertainty.html