ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS WITH APPLICATION TO MOBILE ROBOT

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 law³ 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.