Please use this identifier to cite or link to this item:
https://doi.org/10.1155/2014/456975
| DC Field | Value | |
|---|---|---|
| dc.title | Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances | |
| dc.contributor.author | Chen, G | |
| dc.contributor.author | Gao, T | |
| dc.contributor.author | Huang, J | |
| dc.contributor.author | Zhou, Q | |
| dc.date.accessioned | 2020-10-26T07:17:20Z | |
| dc.date.available | 2020-10-26T07:17:20Z | |
| dc.date.issued | 2014 | |
| dc.identifier.citation | Chen, G, Gao, T, Huang, J, Zhou, Q (2014). Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances. Abstract and Applied Analysis 2014 : 456975. ScholarBank@NUS Repository. https://doi.org/10.1155/2014/456975 | |
| dc.identifier.issn | 1085-3375 | |
| dc.identifier.uri | https://scholarbank.nus.edu.sg/handle/10635/180160 | |
| dc.description.abstract | The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes. © 2014 Gang Chen et al. | |
| dc.publisher | Hindawi Publishing Corporation | |
| dc.rights | Attribution 4.0 International | |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
| dc.source | Unpaywall 20201031 | |
| dc.type | Article | |
| dc.contributor.department | ELECTRICAL AND COMPUTER ENGINEERING | |
| dc.description.doi | 10.1155/2014/456975 | |
| dc.description.sourcetitle | Abstract and Applied Analysis | |
| dc.description.volume | 2014 | |
| dc.description.page | 456975 | |
| dc.published.state | Published | |
| Appears in Collections: | Staff Publications Elements | |
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|---|---|---|---|---|---|---|
| 10_1155_2014_456975.pdf | 2.26 MB | Adobe PDF | OPEN | None | View/Download |
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