Global asymptotical stabilization of mobile robot using smooth guidance law

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish
Pages (from-to)3657-3663
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - 1997

All Science Journal Classification (ASJC) codes

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality


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