Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances

• المؤلفون الرئيسيون: Chen, Gang, Gao, Tingting, Huang, Jiangshuai, Zhou, Qicai
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2015
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Applications of electronics
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/104069; http://hdl.handle.net/10220/24693
• المؤسسة: 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 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.