Adaptive exponential stabilization of mobile robots with unknown constant‐input disturbance

Abstract

Abstract This paper concentrates on the discussions on stabilization of mobile robots with unknown constant‐input disturbance. Continuous time‐varying adaptive controllers are designed for mobile robots in a chain‐form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order 0 to achieve exponential stability. Simulation results validate the theoretical analysis. © 2001 John Wiley & Sons, Inc.