王朝立, 霍伟. 一类不确定非完整动力学系统的鲁棒镇定及其在移动机器人中的应用[J]. 机器人, 1998, 20(6): 442-448..
WANG Chaoli, HUO Wei. ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS WITH APPLICATION TO MOBILE ROBOT. ROBOT, 1998, 20(6): 442-448..
Abstract:This paper studies the control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms and other disturbances. The approach to stabilize the systems are given based on the variable structure control, which can extend the stabilization law[3] for the driftless nonlinecr control system to the corresponding nonholonomic-dynamic system with unknown parameters and disturbance.Finally,the proposed result is used to stabilize a mobile robot. Simulation result shows that the approach is effective.
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