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An adaptive control scheme for nonholonomic mobile robot with parametric uncertainty

Mnif F., Touati F.

Archives of Control Sciences

2004

Vol. 14, no. 3/4

219-229

This paper addresses the problem of the adaptive stabilization of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.