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Robust Stabilization of Kinematic Systems of Uncertain Nonholonomic Mobile Robots

In this paper, a smooth time-varying controller is proposed for the stabilization of a mobile robot with two driving wheels mounted on the same axis and a distance between the mass center and the geometrical center. An robust controller is also investigated for the case that the robot geometric parameters are unknown. It is proved that the proposed controller can exponentially stabilize the wheeled mobile robot. Simulations illustrate the effectiveness of the proposed controllers