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Discontinuous Feedback Stabilization of Nonholonomic Wheeled Mobile Robots

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Dynamics and Control

Abstract

We present a new discontinuous stabilizing controllerfor a class of wheeled mobile robots with nonholonomic constraints.This stabilizing controller has a number of desirable properties:it is simple, the state of the robot asymptotically convergesto the target configuration, and the resulting trajectory issmooth. Theoretical and simulation results are both presented.

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Authors and Affiliations

  1. Department of Mathematics and Statistics, Queen‘s, University at Kingston, Kingston, Ontario, Canada, K7L 3N6

    Minzhi Zhang & R. M. Hirschorn

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  1. Minzhi Zhang
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  2. R. M. Hirschorn
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Zhang, M., Hirschorn, R.M. Discontinuous Feedback Stabilization of Nonholonomic Wheeled Mobile Robots. Dynamics and Control 7, 155–169 (1997). https://doi.org/10.1023/A:1008227917007

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