A hybrid strategy for the feedback stabilization of nonholonomic mobile robots

2003 ◽  
Author(s):  
J.-B. Pomet ◽  
B. Thuilot ◽  
G. Bastin ◽  
G. Campion
Keyword(s):  
Mobile Robots ◽  
Feedback Stabilization ◽  
Nonholonomic Mobile Robots ◽  
Hybrid Strategy

scholarly journals Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wenli Feng ◽  
Qingli Sun ◽  
Zhijun Cao ◽  
Dongkai Zhang ◽  
Hua Chen
Keyword(s):  
Mobile Robots ◽  
State Feedback ◽  
Original System ◽  
Feedback Stabilization ◽  
Unknown Parameters ◽  
Nonholonomic Mobile Robots ◽  
Stabilizing Controllers ◽  
Stochastic Case ◽  
Switching Control Strategy ◽  
Zero Equilibrium

The stabilizing problem of stochastic nonholonomic mobile robots with uncertain parameters is addressed in this paper. The nonholonomic mobile robots with kinematic unknown parameters are extended to the stochastic case. Based on backstepping technique, adaptive state-feedback stabilizing controllers are designed for nonholonomic mobile robots with kinematic unknown parameters whose linear velocity and angular velocity are subject to some stochastic disturbances simultaneously. A switching control strategy for the original system is presented. The proposed controllers that guarantee the states of closed-loop system are asymptotically stabilized at the zero equilibrium point in probability.

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