Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters

This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptive statefeedback stabilizing controller is designed. The asymptotical stability of the control system is proved with Lyapunov stability theory. A simulation example is provided to show the effectiveness of the proposed method. Key-Words: -Nonholonomic mobile robots, Unknown kinematic parameters, Adaptive control