Mobile Robot Tracking Control Based on Lyapunov Method

Abstract:

This paper presents adaptive control rules, in the dynamics level, for the nonholonomic mobile robots. Adaptive controls are derived for mobile robots, using Lyapunov stability technique, for tracking a reference trajectory and stability to a fixed posture. The presented control law can render system asymptotically stabilization at a desired target. The simulation shows it has good position tracking performance. This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text.

• Periodical: Advanced Materials Research (Volumes 468-471)
• Pages: 1512-1515
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.468-471.1512
• Online since: February 2012
• Authors: Qi Zhi Wang, Xiao Xia Wang
• Keywords: Lyapunov, Mobile Robot, Stability

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