Continuous time-varying robust K-exponential stabilization of nonholonomic wheeled mobile robots

A global continuous time-varying robust control law is proposed to stabilize the dynamic nonholonomic wheeled mobile robot(WMR) with parameter uncertainty. The dynamic model of the WMR is transformed into an uncertain linear subsystem and an uncertain nonlinear subsystem by a global invertible transformation. Then, the nonlinear subsystem is transformed into a linear subsystem with disturbance by introducing an exponential decay term related to the initial state values. Finally, a robust control law is designed to stabilize the whole system. Compared with the existed control laws, the one proposed in this paper achieves continuity, asymptotic property and exponential rates at the same time, which is verified by the simulation result.