Adaptive exponential stabilization of mobile robots with uncertainties

Abstract

This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis.