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Discrete Dynamics in Nature and Society
Volume 2013, Article ID 808249, 9 pages
Research Article

Adaptive State-Feedback Stabilization for Stochastic Nonholonomic Mobile Robots with Unknown Parameters

1School of Mathematics and Information Science, Shijiazhuang University, Hebei 050035, China
2Department of Mathematics and Physics, Changzhou Campus, Hohai University, Jiangsu 213022, China

Received 19 September 2013; Accepted 29 October 2013

Academic Editor: Guoliang Wei

Copyright © 2013 Wenli Feng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The stabilizing problem of stochastic nonholonomic mobile robots with uncertain parameters is addressed in this paper. The nonholonomic mobile robots with kinematic unknown parameters are extended to the stochastic case. Based on backstepping technique, adaptive state-feedback stabilizing controllers are designed for nonholonomic mobile robots with kinematic unknown parameters whose linear velocity and angular velocity are subject to some stochastic disturbances simultaneously. A switching control strategy for the original system is presented. The proposed controllers that guarantee the states of closed-loop system are asymptotically stabilized at the zero equilibrium point in probability.