李胜, 马国梁, 胡维礼. 一类不确定非完整移动机器人的时变自适应镇定[J]. 机器人, 2005, 27(1): 10-13,19..
LI Sheng, MA Guo-liang, HU Wei-li. Time-varying Adaptive Stabilization of an Uncertain Nonholonomic Mobile Robot. ROBOT, 2005, 27(1): 10-13,19..
Abstract：In this paper, a smooth time-varying controller is proposed for the stabilization of a mobile robot with driven wheels under the condition that there is a distance between the mass center and the geometrical center. And an adaptive feedback controller is also proposed for the case that this distance is uncertain. It is proved that the proposed controller can exponentially stabilize the wheeled mobile robot from any initial state to the origin. The simulation results show the efficacy of the proposed controller.
 Brockett R W. Differential Geometric Control Theory [M]. Boston:Burkhauser, 1983.  Kolmanovsky I, McClamroch N H. Development in nonholonomic control problems[J]. IEEE Control System Magazine, 1995, 15(6):20-36.  Tayebi A, Tadjine M, Rachid A. Discontinuous control design for the stabilization of nonholonomic systems in chained form using the backstepping approach[A]. Proceedings of the 36th IEEE Conference on Decision and Control[C]. 1997. 3089-3090.  马保离,霍伟.非完整链式系统的时变光滑指数镇定[J].自动化学报,2003,29(2):301-305.  Prieur C, Astolfi A. Robust stabilization of chained systems via hybrid control[A]. Proceedings of the 41st IEEE Conference on Decision and Control[C]. 2002. 522-527.  Wu W G, Chen H T, Wang Y J, et al. Adaptive exponential stabilization of mobile robots with uncertainties [A]. Proceedings of the 38th IEEE Conference on Decision and Control[C]. 1999. 3484-3489.  Slotine JJE, Li W P. Applied Nonlinear Control[M]. New Jersey:Englewood Cliffs, Prentice Hall, 1991.  Kim M S, Shin J H, Hong S G, et al. Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainty and disturbances[J]. Mechatronics, 2003, 13 (5):507-519.