Position and attitude control of two-wheeled mobile robot using multilayer minimum projection method

For robotics navigation, artificial potential functions are commonly utilized. Among these functions, control Lyapunov functions (CLFs) guarantee stability of nonlinear autonomous systems. Particularly, a vehicle such as a two-wheeled mobile robot is a major application for a navigation problem. However, it is difficult to stabilize due to the its nonholonomic constraint. This paper presents a controller design procedure based on a non-smooth CLF. The controller achieves asymptotic stability of the origin of the two-wheeled mobile robot in a complex workspace. For the complex workspace, the multilayer minimum projection method can generate a CLF. The method requires a CLF for an unconstrained system and a smooth mapping. This paper proposes a composite mapping constructed by smooth mappings. The composite mapping is adopted to be combined with a non-smooth CLF. The non-smooth CLF manages theoretical difficulty from the nonholonomic constraint of the two-wheeled mobile robot. The approach is validated in computer simulation. The result demonstrates the effectiveness of the presented method.

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