Dynamic modeling and adaptive dynamic compensation for unicycle-like mobile robots

@article{Martins2009DynamicMA,
  title={Dynamic modeling and adaptive dynamic compensation for unicycle-like mobile robots},
  author={Felipe Nascimento Martins and M{\'a}rio Sarcinelli Filho and Teodiano Freire Bastos Filho and Ricardo O. Carelli},
  journal={2009 International Conference on Advanced Robotics},
  year={2009},
  pages={1-6}
}
This paper develops a new representation for the dynamic model of unicycle-like mobile robots, discusses some properties of it, and proposes an adaptive dynamic compensation controller based on such model. The proposed dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots but not in the literature, thus increasing the significance of the model itself. Important properties of such model are summarized, and some of those are considered in the design… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.

References

Publications referenced by this paper.
Showing 1-10 of 13 references

An Adaptive Dynamic Controller for Autonomous Mobile Robot Trajectory Tracking

  • F. Martins, W. Celeste, R. Carelli, M. Sarcinelli-Filho, T. Bastos- Filho
  • Control Engineering Practice, vol. 16, pp. 1354…
  • 2008
Highly Influential
3 Excerpts

Nonlinear systems

  • H. Khalil
  • 2002
1 Excerpt

Similar Papers

Loading similar papers…