Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances
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...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/456975 |
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| _version_ | 1849406342675038208 |
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| author | Gang Chen Tingting Gao Jiangshuai Huang Qicai Zhou |
| author_facet | Gang Chen Tingting Gao Jiangshuai Huang Qicai Zhou |
| author_sort | Gang Chen |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-4af67ed5c8c4407894d9f30f204bd2bc |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-4af67ed5c8c4407894d9f30f204bd2bc2025-08-20T03:36:26ZengWileyAbstract and Applied Analysis1085-33751687-04092014-01-01201410.1155/2014/456975456975Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded DisturbancesGang Chen0Tingting Gao1Jiangshuai Huang2Qicai Zhou3School of Mechanical Engineering, Tongji University, Shanghai 200092, ChinaSchool of Mechanical & Electrical Engineering, Zhejiang Textile & Fashion College, Ningbo, Zhejiang 315211, ChinaSchool of Electrical & Electronic Engineering, Nanyang Technological University, 679394, SingaporeSchool of Mechanical Engineering, Tongji University, Shanghai 200092, ChinaThe 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.http://dx.doi.org/10.1155/2014/456975 |
| spellingShingle | Gang Chen Tingting Gao Jiangshuai Huang Qicai Zhou Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances Abstract and Applied Analysis |
| title | Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances |
| title_full | Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances |
| title_fullStr | Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances |
| title_full_unstemmed | Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances |
| title_short | Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances |
| title_sort | robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances |
| url | http://dx.doi.org/10.1155/2014/456975 |
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