Adaptive Control Using Barrier Lyapunov Functions for Omnidirectional Mobile Robot with Time-Varying State Constraints

Hoa Thi Truong; Xuan Bao Nguyen

doi:10.1007/978-3-030-91892-7_38

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Adaptive Control Using Barrier Lyapunov Functions for Omnidirectional Mobile Robot with Time-Varying State Constraints

Hoa Thi Truong Xuan Bao Nguyen

Year: 2021 Mechanisms and machine science Pages: 401-410 Publisher: Springer Nature (Netherlands)

DOI: 10.1007/978-3-030-91892-7_38

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Keywords:

Control theory (sociology) Backstepping Lyapunov function Mobile robot Robustness (evolution) Computer science Trajectory State variable Omnidirectional antenna Controller (irrigation) Robot Lyapunov redesign Control engineering Adaptive control Engineering Control (management) Nonlinear system Artificial intelligence Physics

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Control and Dynamics of Mobile Robots

Physical Sciences → Engineering → Control and Systems Engineering

Adaptive Control of Nonlinear Systems

Physical Sciences → Engineering → Control and Systems Engineering

Robotic Path Planning Algorithms

Physical Sciences → Computer Science → Computer Vision and Pattern Recognition

Adaptive Control Using Barrier Lyapunov Functions for Omnidirectional Mobile Robot with Time-Varying State Constraints

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