Globally asymptotically stable position control for an autonomous mobile robot

摘要

In this paper we design a position controller for an autonomous mobile robot, a nonlinear nonholonomic control system. The designed time invariant non smooth stabilizing control law assures limitation of the velocity inputs, human like driving behaviour and smooth trajectories. The global asymptotic stability of the closed loop system is proved using the Lyapunov stability theory and the In-variance Principle of La Salle and Lefschetz. Moreover a real time software environment is developed for implementing the designed controller on a real platform, which is in our case the autonomous mobile robot B21 from Real World Interface (RWI). Experimental results demonstrate the excellent performance of the designed contoller.