Velocity and Current Inner Loops in a Wheeled Mobile Robot

In this note we are concerned with the control of a non-holonomic mobile robot, including the kinematic and the mechanical models of the robot as well as the electrical dynamics of the brushed DC motors used as actuators. We present, for the first time, a formal justification for a control strategy based on velocity and current inner loops driven by proportional controllers. Although this strategy is well known and very common in practice, a formal stability analysis supporting these ideas had not been presented until now.

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