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�������պ����ѧѧ�� 2007, Vol. 33 Issue (04) :427-430    DOI:
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���, ������*
�Ϻ�����ѧ ��������ѧԺ, �Ϻ� 200093
Robust stabilization of uncertain nonholonomic kinematic systems
Li Chuanfeng, Wang Chaoli*
College of Electric Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

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Abstract�� Lots of research on the stabilizing problem of certain nonholonomic kinematic systems has been developed. However, when the geometric parameters of systems are unknown, especially, considering uncalibrated vision measure in control systems, kinematic systems are uncertain. The stabilizing problem was investigated for a kind of uncertain nonholonomic control systems, i.e., nonholonomic mobile robots. A robot kinematic model with two driven wheel velocities as control inputs was obtained through the observation and analysis of mobile robots driven by two wheels with the different center of mass and geometric center. A smooth time varying stabilizing controller was proposed for these systems with the known wheel radius and the distance between the two driving wheels. For the circumstance with the unknown two parameters above, a robust stabilizing law was presented also. The asymptotic stability was rigorously proved for the closed loop systems by using the proposed control laws. A heuristic idea may be obtained for developing stabilizing problem of general uncertain nonholonomic control systems by considering this kind of design. The simulation illustrates the effectiveness of the proposed controllers.
Keywords�� nonholonomic system   wheeled mobile robot   robust stabilization     
Received 2006-05-30;


About author: ���(1976-)��,������������,˶ʿ��,leecfeng@sina.com.
���, ������.һ�಻ȷ���������˶�ѧϵͳ��³����[J]  �������պ����ѧѧ��, 2007,V33(04): 427-430
Li Chuanfeng, Wang Chaoli.Robust stabilization of uncertain nonholonomic kinematic systems[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(04): 427-430
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I04/427
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