Stochastic Stabilization of Nonholonomic Mobile Robot with Heading-Angle-Dependent Disturbance

Zhao Jing Wu and Yong Hui Liu

Mathematical Problems in Engineering, 2012, vol. 2012, 1-17

Abstract:

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.

Date: 2012
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2012/870498.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2012/870498.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:870498

DOI: 10.1155/2012/870498

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().