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Set Stabilization of Nonholonomic Mobile Robots

Abstract(summary):

Conventional stabilizing controllers for the nonholonomic systems stabilize the closed loop system to a target point. In this paper; considering the kinematic model of nonholonomic mobile robots; a design approach based on set stabilizing control is proposed. The proposed control laws can stabilize the closed loop system asymptotically to a set of given target points. First; for the one-order subsystem of the heading angle; a state feedback control law is designed to guarantee that the state of the closed loop subsystem is asymptotically stabilized to a set of target points. Second; for the second-order subsystem of the planar coordinates of the mass center; a state feedback control law is designed to guarantee that the states of the closed loop subsystem are both asymptotically stabilized to zero. Simulation results show the effectiveness of our method.


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