Semiglobal saturated practical stabilization for nonholonomic mobile robots with uncertain parameters and angle measurement disturbance

摘要

In this paper, the semiglobal stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with input saturation. By solving the linear inequalities, a new switching controller is presented in the presence of parametric uncertainties and angle measurement disturbance. Under the proposed controller, it is rigorously proved that all the states of the closed loop system can be stabilized to the any prescribed small interval around zero. Finally, a numerical example illustrate the effectiveness of the control design method.