Practical stabilization of wheeled mobile robots based on control Lyapunov function

In this paper, a method to globally practically stabilize wheeled mobile robots (WMR) with two control inputs is proposed based on control Lyapunov function (CLF). A formulation of the stabilizing controller is obtained for a performance index and control-affine driftless systems by means of approximating the value function of the performance index by a CLF associated with the system considered. The controller can guarantee stability and is useful to examine the system performance under different performance indices. Simulation is performed to highlight the effectiveness of the proposed control law.

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