Robust Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties

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


Nonholonomic Mobile Cart, Robust Control, Smooth Time-Varying 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.

Important Links:

Go Back