Nonlinear Control Of Wheeled Mobile Robots

Abstract

Kinematic models for the description of wheeled mobile robots are introduced. The nonlinear controllabilityof these ciystems is proved. It is shown that the wheeled mobile robot cannot be asymptotically stabilized to a configuration (or position) by using time-invariant continuous feedback. A general method is proposed for the construction of openloop controllers and time-invariant discontinuous feedback controllers. Our study provides a theoretical framework which can be used for the analysis and control of wheeledmobile-robot systems.