Deheng Hou, Fangzheng Gao, "Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters," WSEAS Transactions on Systems and Control, vol. 10, pp. 335-340, 2015, DOI:
Deheng Hou, Fangzheng Gao. Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters.
WSEAS Transactions on Systems and Control. 2015;10:335-340.
WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 10, 2015
Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters
Authors: ,
Abstract: This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptive state-feedback stabilizing controller is designed. The asymptotical stability of the control system is proved with Lyapunov stability theory. A simulation example is provided to show the effectiveness of the proposed method.
Pages: 335-340 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #36 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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