Feedback stabilization of a nonholonomic wheeled mobile robot

When a nonlinear system is not stabilizable by a smooth state feedback, it is common to think of the discontinuous feedback as being the alternative. However, another possibility is to consider a smooth time-varying feedback in which the independent time index plays the role of an extra variable. This possibility is illustrated in the case of two degrees-of-freedom nonholonomic wheeled mobile robot for which the globally stabilizing smooth feedback is derived.<<ETX>>

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