A unified discontinuous state feedback controller for the path-following and the point-stabilization problems of a unicycle-like mobile robot

Abstract

A unified kinematics model is derived for the path-following and the point-stabilization problems of a wheeled mobile robot, using a signed polar representation. The mobile target configuration is represented by the motion of a reference mobile robot which has the same kinematics constraints as the real one. Thereafter, the two problems are solved simultaneously by means of a state feedback control law which is discontinuous at the origin. Finally, simulation results are given to demonstrate the controller's effectiveness.