Research Article
Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances
Table 1
Definition of parameters of mobile robot.
| Symbols | Description |
| | Mass of body | | Mass of wheel with a motor | | Moment of inertia of the body about the vertical axis through Pc | | Moment of inertia of the wheel with a motor about the wheel axis | | Moment of inertia of the wheel with a motor about the diameter | | Half width of the mobile robot | | Radius of the wheel | , | Damping coefficients | | Velocities of the left and right wheels | | Control torques applied to the wheels | | External disturbance |
|
|