自动化学报
自動化學報
자동화학보
ACTA AUTOMATICA SINICA
2005年
2期
314-319
,共6页
Nonholonomic mobile cart%robust stabilization%smooth time-varying control%parameter uncertainties
For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
