Adaptive Stabilization of Stochastic Nonholonomic Mobile Robots with Uncertain Parameters

2013 ◽  
Vol 10 (8) ◽  
pp. 2501-2508
Author(s):  
Yanling Shang
Keyword(s):  
Mobile Robots ◽  
Uncertain Parameters ◽  
Adaptive Stabilization ◽  
Nonholonomic Mobile Robots

scholarly journals Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Gang Chen ◽  
Tingting Gao ◽  
Jiangshuai Huang ◽  
Qicai Zhou
Keyword(s):  
Mobile Robots ◽  
Kinematic Model ◽  
Adaptive Stabilization ◽  
Backstepping Method ◽  
Closed Loop System ◽  
Nonholonomic Mobile Robots ◽  
Additional Control ◽  
Bounded Disturbances ◽  
Unknown System ◽  
Robust Adaptive

The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes.

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