Abstract
This paper deals with control of nonholonomic mobile robot using Immersion and Invariance (I&I) adaptive control. I&I is a framework for adaptive stabilization of nonlinear systems with uncertainties parameter. We investigated the tracking control of nonholonomic mobile robot with uncertainties in dynamic and kinematics. We applied I&I adaptive control to control the angular and linear velocity of nonholonomic mobile robot. In this paper, we showed the integration of kinematic controller and torque controller for nonholonomic mobile robot. We investigated the control performance of nonholonomic mobile robot using I&I adaptive control. The results demonstrate the ability of I&I adaptive control as system velocity control of nonholonomic mobile robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
