Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters
Joint Authors
Zhang, Dongkai
Chen, Hua
Sun, Qingli
Cao, Zhijun
Feng, Wenli
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-27
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The stabilizing problem of stochastic nonholonomic mobile robots with uncertain parameters is addressed in this paper.
The nonholonomic mobile robots with kinematic unknown parameters are extended to the stochastic case.
Based on backstepping technique, adaptive state-feedback stabilizing controllers are designed for nonholonomic mobile robots with kinematic unknown parameters whose linear velocity and angular velocity are subject to some stochastic disturbances simultaneously.
A switching control strategy for the original system is presented.
The proposed controllers that guarantee the states of closed-loop system are asymptotically stabilized at the zero equilibrium point in probability.
American Psychological Association (APA)
Feng, Wenli& Sun, Qingli& Cao, Zhijun& Zhang, Dongkai& Chen, Hua. 2013. Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters. Discrete Dynamics in Nature and Society،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-499722
Modern Language Association (MLA)
Feng, Wenli…[et al.]. Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters. Discrete Dynamics in Nature and Society No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-499722
American Medical Association (AMA)
Feng, Wenli& Sun, Qingli& Cao, Zhijun& Zhang, Dongkai& Chen, Hua. Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters. Discrete Dynamics in Nature and Society. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-499722
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-499722