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Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances
Joint Authors
Chen, Gang
Gao, Tingting
Huang, Jiangshuai
Zhou, Qicai
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-11-17
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Chen, Gang& Gao, Tingting& Huang, Jiangshuai& Zhou, Qicai. 2014. Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1013955
Modern Language Association (MLA)
Chen, Gang…[et al.]. Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances. Abstract and Applied Analysis No. 2014 (2014), pp.1-7.
https://search.emarefa.net/detail/BIM-1013955
American Medical Association (AMA)
Chen, Gang& Gao, Tingting& Huang, Jiangshuai& Zhou, Qicai. Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1013955
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1013955