Universal adaptive lambda tracker for nonholonomic wheeled mobile robots moving on a plane in three-dimensional space

Alicja Mazur

doi:10.1117/12.335709

8 January 1999 Universal adaptive λ tracker for nonholonomic wheeled mobile robots moving on a plane in three-dimensional space

Alicja Mazur

Author Affiliations +

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335709
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper presents a universal adaptive (lambda) -tracking control algorithm for wheeled mobile robots moving on the plane in the 3D space. The introduce control algorithm maybe considered as a dynamic version of the PD controller requiring only a knowledge of the robot kinematics. This controller preserves the convergence of the position tracking error of mobile robots to the ball of radius (lambda) > 0, where (lambda) is arbitrary but prespecified. Theoretical considerations are illustrated with simulations.

Citation Download Citation

Alicja Mazur "Universal adaptive λ tracker for nonholonomic wheeled mobile robots moving on a plane in three-dimensional space", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335709

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available