Global tracking-stabilization control of mobile robots with parametric uncertainty

Mohamed Maghenem (1) , Antonio Loria (1) , Elena Panteley (1)

1 L2S - Laboratoire des signaux et systèmes

We present a simple time-varying controller for tracking problem of mobile robots. We consider the full model of autonomous vehicles, including both the kinematics and the Lagrangian dynamics equations. Our control approach relies on designing a controller at the kinematics level, under any integrable virtual leader velocities, which is robust to any controller, at the torc level, that guarantees that the velocity errors are square integrable. In addition, we assume that the inertia is unknown hence, we use a passivity-based adaptive controller that guarantees the convergence of the velocity tracking errors.

Mots clés: Tracking control; adaptive control; stabilization; nonholonomic systems

Domaines: Automatique

Mohamed Maghenem, Antonio Loria, Elena Panteley. Global tracking-stabilization control of mobile robots with parametric uncertainty. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.4114 - 4119, ⟨10.1016/j.ifacol.2017.08.797⟩. ⟨hal-01744931⟩