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This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms, and other disturbances. Based on the ideas of H∞ control and homogeneous feedback, the controller proposed can stabilize the closed loop systems when there is no exotic disturbance. In addition, it can realize the desired disturbance attenuation according...
This paper discusses visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters. To cope with the nonholonomic property of the system, we propose a time varying feedback controller for robustly stabilizing the position and orientation of the mobile robot to desired ones using visual feedback when the depth of the image features and the camera parameters are not known...
In this paper, a smooth time-varying controller is proposed for the stabilization of a mobile robot with two driving wheels mounted on the same axis and a distance between the mass center and the geometrical center. An robust controller is also investigated for the case that the robot geometric parameters are unknown. It is proved that the proposed controller can exponentially stabilize the wheeled...
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