INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Switching Adaptive Control of Mobile Robots
Autor/es:
CELSO DE LA CRUZ; RICARDO CARELLI; TEODIANO FREIRE BASTOS
Lugar:
Cambridge, UK
Reunión:
Simposio; International Symposium on Industrial Electronics, ISIE; 2008
Institución organizadora:
IEEE
Resumen:
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 avoiding 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.
