Robust State Feedback Stabilization for Nonholonomic Mobile Robots with Stochastic Disturbances

Research This paper investigates the problem of robust state feedback stabilization for nonholonomic mobile robots, the linear velocity and angular velocity of which are subject to some stochastic disturbances simultaneously. First of all, an appropriate state/input transformation is introduced to convert the mentioned control model into stochastic nonholonomic system in chain form. Then, by using input-state-scaling and backstepping techniques, a state feedback controller is obtained. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller guarantees that the states of the closed-loop system are regulated to the origin. The efficiency of the proposed method is demonstrated by a detailed simulation.