Piecewise Feedback Stabilization of Nonholonomic Mobile Robots
HU Zhongxu
HU Yueming
MAO Zongyuan
Abstract：This paper deals with the feedback stabilization of a car-like mobile robot around an equilibrium. Based on feedback linearization and state feedback, we propose a piecewise continuous control law by dividing the system into two subsystems. The modification of the controller is also carried out to eliminate the singularity of the control at some points due to the periodicity of trigonometric function involved in the control law, and thus ensure the global stability of the closed-loop system. Finally, numerical simulation results are presented to illustrate the efficiency of the proposed approach.
Keywords：mobile robotsnonholonomic constraintsfeedback linearizationpiecewise control
Publication Date：2000-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 358-362 )