Abstract#R##N##R##N#This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbance. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order 0 to achieve exponential stability. Simulation results validate the theoretical analysis. © 2001 John Wiley & Sons, Inc.
['Weiguo Wu', 'Huitang Chen', 'Yuejuan Wang', 'Peng Yung Woo']
Adaptive exponential stabilization of mobile robots with unknown constant-input disturbance