Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances (Q1724150)
From MaRDI portal
 | This is the item page for this Wikibase entity, intended for internal use and editing purposes. Please use this page instead for the normal view: Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances |
scientific article; zbMATH DE number 7022411
| Language | Label | Description | Also known as |
|---|---|---|---|
| default for all languages | No label defined |
||
| English | Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances |
scientific article; zbMATH DE number 7022411 |
Statements
Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances (English)
0 references
14 February 2019
0 references
Summary: 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.
0 references
robust adaptive stabilization
0 references
nonholonomic mobile robots
0 references
bounded disturbances
0 references
0 references
0 references
0 references
0 references
0 references
0.9043986201286316
0 references
0.8820531964302063
0 references
0.8696370124816895
0 references
0.8634468913078308
0 references
