Lyapunov-Based Feedback Control Stabilization of Uncertain Wheeled Mobile Robot

Abstract

This paper presents a disturbance control strategy for wheeled mobile robots (WMRs) that employs nonsmooth integral manifold feedback stabilization for a higher-order uncertain chain of integrators. We address the global adaptive experimental tracking problem for uncertain nonstrict feedback nonlinear systems with unknown control coefficients. The non-restrictive feedback condition, and to ensure controllability in tracking, an innovative dual dynamic gain scaling mechanism is introduced. This nonsmooth controller-based Lyapunov analysis is derived for the closed-loop system, assuring stability and preserving invariance against matched Lipschitz uncertainty. Experimental results on WMRs corroborate the efficacy of this control strategy. © 2025 IEEE.