Stochastic stabilization of nonholonomic mobile robot
作者： Yong-Hui Liu , Zhao-Jing Wu
DOI:
关键词: Mobile robot 、 Initial value problem 、 Engineering 、 Heading (navigation) 、 Exponential function 、 Exponential stability 、 Control theory 、 Control theory 、 Almost surely 、 Position (vector)
摘要: The problem of exponential stabilization for nonholonomic mobile robot with stochastic disturbance dependent heading angle is considered in this paper. An integrator backstepping controller based on state-scaling method designed such that the state closed-loop system, starting from a non-zero initial angle, regulated to origin rate almost surely sense. For zero driven away while position variables are bounded neighborhood origin. Combing above two cases results switching any condition configuration can be rate. efficiency proposed demonstrated by detailed simulation.
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