On stabilization of uncertain dynamic nonholonomic systems

被引：8

作者：

Dong, WJ ^{[1
]}

Xu, YS

Huo, W

机构：

[1] Beijing Univ Aeronaut & Astronaut, Div Res 7, Beijing, Peoples R China

[2] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2000年 / 73卷 / 04期

关键词：

D O I：

10.1080/002071700219704

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the stabilization problem of uncertain dynamic nonholonomic systems. New robust and adaptive robust control laws are presented with an aim to stabilize the system to the origin with a simple design procedure and no extensive online computations. The designed controllers have been implemented in a nonholonomic wheeled mobile robot, and the application are discussed. Simulation study demonstrates the effectiveness of the proposed method.

引用

页码：349 / 359

页数：11

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