Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties
نویسنده
چکیده
For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of carts position and orientation to the desired set point. The controller design relies on converting the carts dynamics to an advantageous form, and the robust linear feedback control laws steer the carts position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
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