TY - GEN
T1 - Switching adaptive control of mobile robots
AU - De La Cruz, Celso
AU - Carelli, Ricardo
AU - Bastos, Teodiano Freire
PY - 2008
Y1 - 2008
N2 - A novel tracking and positioning adaptive control for mobile robots is designed using Lyapunov theory. Then, a switching control that changes the parameter updating law is used to improve the adaptive control in the sense of reducing high accelerations of the robot and avoiding the parameter drifting. Experimental results show a good performance of the adaptive control and its improvement with the switching control.
AB - A novel tracking and positioning adaptive control for mobile robots is designed using Lyapunov theory. Then, a switching control that changes the parameter updating law is used to improve the adaptive control in the sense of reducing high accelerations of the robot and avoiding the parameter drifting. Experimental results show a good performance of the adaptive control and its improvement with the switching control.
UR - http://www.scopus.com/inward/record.url?scp=57849096334&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2008.4677084
DO - 10.1109/ISIE.2008.4677084
M3 - Conference contribution
AN - SCOPUS:57849096334
SN - 1424416655
SN - 9781424416653
T3 - IEEE International Symposium on Industrial Electronics
SP - 835
EP - 840
BT - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
T2 - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Y2 - 30 June 2008 through 2 July 2008
ER -