Stabilization Control of Nonholonomic Wheeled Mobile Service Robots

Abstract

Nonholonomic wheeled mobile service robot’s posture error model denoted by polar coordinates in global coordinates is established .Based on the inherent discontinuousness of the closed-loop system model, a novel nonlinear state feedback stabilization control law is proposed，which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. By Lyapunov candidate function method，this paper concludes that the closed-loop system is global uniformly asymptotically stable at origin. Simulation results indicate that the proposed control law is effective.