Robust Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties

B.L. Ma and S.K. Tso (PRC)


Nonholonomic Mobile Cart, Robust Control, Smooth TimeVarying Control, Parameter Uncertainty


For controlling the dynamic nonholonomic mobile cart with parameter uncertainties, a simple robust con troller is derived yielding global exponential conver gence of the state variables. The controller design re lies on converting the cart's dynamics to a linear time varying system, followed by a robust linear feedback control law to drive the state to the origin exponen tially. Simulation results show the effectiveness of the proposed control law.

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