Asymptotic control for wheeled mobile robots with driftless constraints
In this paper, an asymptotic control with driftless constraints is proposed for wheeled mobile robots based on empirical practice. The equations of motion of a designed mobile robot are derived. In order to obtain the desired performance for high velocity and consecutive motions, the motion requirements are defined and then an asymptotic control is developed by using the kinematic equations of the wheeled mobile robot. The convergence of the asymptotic control is presented by using Lyapunov stability theory. Even if a nonideal velocity controller is employed for driving wheels, it is shown that the numerical performance of the asymptotic control is effective and robustness with the appropriate selection of control parameters.
asymptotic control wheeled mobile robot driftless constraints lyapunov stability theory