Stochastic stabilization of nonholonomic mobile robot with heading-angle-dependent disturbance
type: Item
instance of: scholarly article
title: Stochastic stabilization of nonholonomic mobile robot with heading-angle-dependent disturbance
zbMATH Open document ID: 1264.93161
DOI: 10.1155/2012/870498
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: The problem of exponential stabilization for nonholonomic mobile robot with dependent stochastic disturbance 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 nonzero 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 configuration of the robot can be regulated to the origin with exponential rate. The efficiency of the proposed method is demonstrated by a detailed simulation.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93E15
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 6173658
Wikidata QID: Q58912587
author: Zhao-Jing Wu
author: Yonghui Liu
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/870498
OpenAlex ID: W2005930391
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description: scientific article; zbMATH DE number 6173658