Exponential stabilization of nonholonomic mobile robots

Abstract The problem of point-to-point control design for differentially steered nonholonomic mobile robots is considered in this paper. The control variables are derived using Lyapunov’s stability technique and are piecewise continuous. The proposed control law guarantees the exponential stability of the closed-loop system and ensures the convergence of the position and the orientation of the robot to their desired fixed values.

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