It is well known that although nonholonomic systems are open-loop controllable, they can not be stabilized by using static state feedback. In this paper, we suggest the use of dynamic feedback strategy stemmed from missile guidance law to stabilized a nonholonomic system - mobile robot. A particular smooth controller is shown to asymptotically stabilize the mobile cart about arbitrary target position. Unlike the existing approaches, such as sliding mode controller and Lyapunov function-based controller does not require any switching operation. The asymptotic stability is proved analytically, and the simplicity and effectiveness of the proposed scheme are verified by numerical simulations.
|Number of pages||7|
|Journal||Proceedings of the IEEE Conference on Decision and Control|
|Publication status||Published - 1997|
All Science Journal Classification (ASJC) codes
- Chemical Health and Safety
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality