Time-varying Adaptive Stabilization of an Uncertain Nonholonomic Mobile Robot

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.