Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters | Zendy

Wenli Feng | Zendy; Sun Qing-li | Zendy; Zhijun Cao | Zendy; Dongkai Zhang | Zendy; Hua Chen | Zendy

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Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters

Author(s) -

Wenli Feng,

Sun Qing-li,

Zhijun Cao,

Dongkai Zhang,

Hua Chen

Publication year - 2013

Publication title -

discrete dynamics in nature and society

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.264

H-Index - 39

eISSN - 1607-887X

pISSN - 1026-0226

DOI - 10.1155/2013/808249

Subject(s) - nonholonomic system , backstepping , control theory (sociology) , kinematics , mobile robot , computer science , robot , state (computer science) , adaptive control , mathematics , control (management) , artificial intelligence , physics , algorithm , classical mechanics

The stabilizing problem of stochastic nonholonomic mobile robotswith uncertain parameters is addressed in this paper. Thenonholonomic mobile robots with kinematic unknown parameters areextended 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 ispresented. The proposed controllers that guarantee the states ofclosed-loop system are asymptotically stabilized at the zeroequilibrium point in probability

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