| Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties |
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| 引用本文： | MA Bao-Li (The Seventh Research Division,Beijing University of Aeronautics and Astronautics,Beijing 100083). Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties[J]. 自动化学报, 2005, 0(2) |
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| 作者姓名： | MA Bao-Li (The Seventh Research Division Beijing University of Aeronautics and Astronautics Beijing 100083) |
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| 作者单位： | The Seventh Research Division，Beijing University of Aeronautics and Astronautics，Beijing 100083 |
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| 基金项目： | Supported by National Natural Science Foundation of P. R. China (60274005, 60334030) |
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| 摘 要： | For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
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Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties |
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| MA Bao-Li. Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties[J]. Acta Automatica Sinica, 2005, 0(2) |
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| Authors: | MA Bao-Li |
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| Abstract: | For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law. |
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| Keywords: | Nonholonomic mobile cart robust stabilization smooth time-varying control para- meter uncertainties |
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