Open Access
2014 Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances
Gang Chen, Tingting Gao, Jiangshuai Huang, Qicai Zhou
Abstr. Appl. Anal. 2014: 1-7 (2014). DOI: 10.1155/2014/456975


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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Gang Chen. Tingting Gao. Jiangshuai Huang. Qicai Zhou. "Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances." Abstr. Appl. Anal. 2014 1 - 7, 2014.


Published: 2014
First available in Project Euclid: 27 February 2015

zbMATH: 07022411
MathSciNet: MR3283409
Digital Object Identifier: 10.1155/2014/456975

Rights: Copyright © 2014 Hindawi

Vol.2014 • 2014
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