Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters

摘要

The stabilizing problem of stochastic nonholonomic mobile robots with uncertain parameters is addressed in this paper. The nonholonomic mobile robots with kinematic unknown parameters are extended to the stochastic case. Based on backstepping technique, adaptive state-feedback stabilizing controllers are designed for nonholonomic mobile robots with kinematic unknown parameters whose linear velocity and angular velocity are subject to some stochastic disturbances simultaneously. A switching control strategy for the original system is presented. The proposed controllers that guarantee the states of closed-loop system are asymptotically stabilized at the zero equilibrium point in probability.