불확실한 파라미터를 갖는 비홀로노믹 이동로봇의 적응제어

Adaptive Control of a Nonholonomic Mobile Robot with Parametric Uncertainty

This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.