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