Optimal feedback position control for an autonomous mobile robot

Abstract

Wheeled autonomous mobile robots underlie nonholonomic constraints and therefore they belong to a special class of nonholonomic systems. For this class of systems feedback stabilization plays a central role because they cannot be stabilized by continuously differentiable time invariant control laws. In this paper a time varying feedback control law that minimizes the input energy is designed for solving the optimal feedback control problem for high precision positioning.