@inproceedings{6f3fc880d8a5423db502ee25c884c427,
title = "Concurrent Learning-Based Adaptive Trajectory Tracking Control of Omnidirectional Mobile Robot",
abstract = "This paper investigates the trajectory tracking control problem of omnidirectional mobile robot (OMR) with unknown parameters. A novel concurrent learning-based adaptive tracking control strategy is proposed. Different from currently available adaptive control schemes, the parameter estimation error in this paper can exponentially converge to zero under a mild rank condition, by resorting to concurrent learning technique. This implies that the identification of unknown parameters is achieved. Moreover, the trajectory tracking error can also tend to zero exponentially. Unlike some results with asymptotical convergence rate, the convergence rate of the tracking error can be improved in this paper. Finally, simulation results are provided to validate the effectiveness of the proposed control scheme.",
keywords = "adaptive tracking control, Concurrent learning, omnidirectional mobile robot, parameter identification",
author = "Tao Zhang and Jiang Long and Yangming Guo and Yaozhong Zhang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",
year = "2023",
doi = "10.1109/ICIEA58696.2023.10241889",
language = "英语",
series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "411--416",
editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",
booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
}