adaptive state-feedback stabilization for stochastic nonholonomic mobile robots with unknown parameters
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2013
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Abstract
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.
| Reference Key |
feng2013discreteadaptive
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|---|---|
| Authors | ;Wenli Feng;Qingli Sun;Zhijun Cao;Dongkai Zhang;Hua Chen |
| Journal | Journal of the American Heart Association |
| Year | 2013 |
| DOI |
10.1155/2013/808249
|
| URL | |
| Keywords |
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