Abstract: This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static frictions, as well as other disturbances. Based on homogeneous approximation, a robust control law is designed, which drives generalized coordinates of the closed loop system to the origin exponentially and generalized velocities to the origin asymptotically. Finally, the proposed result is used to stabilize a mobile robot.Simulation result shows that the approach is effective.

Key words: uncer tain nonholonomic dynamic systems, homogeneous dilation, r obust cont rol, wheeled mobile robot