Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances

• Main Authors: Chen, Gang, Gao, Tingting, Huang, Jiangshuai, Zhou, Qicai
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Applications of electronics
• Online Access: https://hdl.handle.net/10356/104069; http://hdl.handle.net/10220/24693
• Institution: Nanyang Technological University

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...