Adaptive robust stabilization of uncertain nonholonomic mechanical systems

Investigates the stabilization problem of uncertain dynamic nonholonomic chained system. A new adaptive robust controller is presented with the aid of a nonsingular transformation. This control strategy not only is simple in design, but also can asymptotically stabilize the system to the origin. The only information required in control of the system is the order, the measurable states and the state derivatives of the system, while detailed description of the dynamic model is not needed. An application to a nonholonomic wheeled mobile robot is described. Simulation results show the effectiveness of the proposed approach.