Backstepping-based discontinuous adaptive control design for the stabilization of nonholonomic mobile robots with matched uncertainties

This paper presents a backstepping procedure for the design of discontinuous, time-invariant, state feedback controllers for the stabilization of nonholonomic systems in chained form. Based on this approach, an exponentially stabilizing controller is derived for a unicycle-like mobile robot in the disturbance-free case. Furthermore, an exponentially stabilizing adaptive controller is proposed when the mobile robot is subjected to inputs disturbances