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Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

Author

Listed:
  • Gang Chen
  • Tingting Gao
  • Jiangshuai Huang
  • Qicai Zhou

Abstract

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.

Suggested Citation

  • Gang Chen & Tingting Gao & Jiangshuai Huang & Qicai Zhou, 2014. "Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances," Abstract and Applied Analysis, Hindawi, vol. 2014, pages 1-7, November.
    • Handle: RePEc:hin:jnlaaa:456975
    DOI: 10.1155/2014/456975
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