Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller

Abstract

In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.