Two hybrid control schemes for nonholonomic robots

Abstract

This paper describes two hybrid control laws for Hilare-type mobile robots, together with experimental verification of their performance. The first control is mathematically motivated. The second control is motivated by the geometry of the problem. While both controls are shown to regulate the robot to a specified position and orientation, their performance is different. To evaluate the performance of the controls, we define seven criteria that we would like the closed-loop system to exhibit. The experimental performance of the two hybrid control laws are evaluated against these criteria.