Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters. (27th November 2013)

• Record Type: Journal Article
• Authors: Feng, Wenli; Sun, Qingli; Cao, Zhijun; Zhang, Dongkai; Chen, Hua
• Other Names: Wei Guoliang Academic Editor.
• Is Part Of: Discrete dynamics in nature and society. Volume 2013(2013)
• Publication Date: 2013-11-27
• Subjects: System analysis -- Periodicals; Dynamics -- Periodicals; Chaotic behavior in systems -- Periodicals; Differentiable dynamical systems -- Periodicals; 003.05
• DOI: 10.1155/2013/808249
• Languages: English
• ISSNs: 1026-0226

Abstract

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.