Copyright © 2012 Zhao Jing Wu and Yong Hui Liu. 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.

Abstract

The problem of exponential stabilization for nonholonomic mobile robot with dependent stochastic disturbance of heading angle is considered in this paper. An integrator backstepping controller based on state-scaling method is designed such that the state of the closed-loop system, starting from a nonzero initial heading angle, is regulated to the origin with exponential rate in almost surely sense. For zero initial heading angle, a controller is designed such that the heading angle is driven away from zero while the position variables are bounded in a neighborhood of the origin. Combing the above two cases results in a switching controller such that for any initial condition the configuration of the robot can be regulated to the origin with exponential rate. The efficiency of the proposed method is demonstrated by a detailed simulation.