Discontinuous adaptive stabilization of uncertain nonholonomic mobile robot

MaRDI QIDQ5456014zbMATH OpenFDO

Authors Sheng Li, Guoliang Ma, Weili Hu, Qingwei Chen

Publication date 4 April 2008

zbMATH Keywords

adaptive controlnonholonomic systemswheeled mobile robotdiscontinuous exponential stabilization

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

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(7)

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• Recursive backstepping stabilization of a wheeled mobile robot
• Robust discontinuous exponential regulation of dynamic nonholonomic wheeled mobile robots with parameter uncertainties
• Robust stabilization of nonholonomic mobile robots with parameter uncertainties
• Discontinuous feedback stabilization of nonholonomic wheeled mobile robots

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