Title
Switching adaptive control of mobile robots
Date Issued
29 December 2008
Access level
metadata only access
Resource Type
conference paper
Author(s)
Universidade Federal do Espírito Santo-UFES
Abstract
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. © 2008 IEEE.
Start page
835
End page
840
Language
English
OCDE Knowledge area
Ingeniería eléctrica, Ingeniería electrónica
Robótica, Control automático
Scopus EID
2-s2.0-57849096334
ISBN
9781424416653
Resource of which it is part
IEEE International Symposium on Industrial Electronics
ISBN of the container
1424416655
Conference
2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Sources of information:
Directorio de Producción Científica
Scopus