Stochastic stabilization of nonholonomic mobile robot
The problem of exponential stabilization for nonholonomic mobile robot with stochastic disturbance dependent of heading angle is considered in this paper. An integrator backstepping controller based on state-scaling method is designed such that the state of the closed-loop system, starting from a non-zero initial heading angle, is regulated to the origin with exponential rate in almost surely sense. For zero initial heading angle, a controller is designed such that the heading angle is driven away from zero while the position variables are bounded in a neighborhood of the origin. Combing the above two cases results in a switching controller such that for any initial condition the con.guration of the robot can be regulated to the origin with exponential rate. The ef.ciency of the proposed method is demonstrated by a detailed simulation.
WU Zhao-Jing LIU Yong-Hui
School of Mathematics and Information Science, Yantai University, Yantai, Shandong Province, 264005, P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）