Output feedback control for mobile robot systems with significant external disturbances

Kang Wu, Jinya Su, Changyin Sun*

*Corresponding author for this work

Research output: Contribution to journalLetterpeer-review

6 Citations (Scopus)


Dear editor,
The control of nonholonomic systems, like those describing mobile robots, has attracted considerable research attention in recent decades owing to its theoretical and practical importance. Brockett’s theorem states that nonholonomic systems cannot be stabilized to an equilibrium point by any source of smooth or continuous state feedback.
Additionally, the required accuracy of measuring the system states is often unachievable in practice. These factors introduce considerable difficulty to
the problem of controlling mobile robots and other nonholonomic systems.
Original languageEnglish
Article number199201
JournalScience China Information Sciences
Issue number9
Early online date12 Mar 2020
Publication statusPublished - 1 Sept 2020

Bibliographical note

Funding Information:
This work was supported by National Natural Science Foundation of China (Grant Nos. 61673243, U1713209) and Ministry of Education Key Laboratory of Measurement and Control of CSE (Grant No. MCCSE2017A0).


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