Stabilization of a three-wheel mobile robot from kinematic model to dynamic model by feedback passivation of cascades using chained form

In this paper, a novel approach for dynamic based stabilization of a three-wheel mobile robot is presented. One of the well-known and well-established approaches for stabilization of mobile robots is converting the kinematic model of the robot to a chained form. In order to extend this method to dynamic based stabilization, kinematic and dynamic subsystems of the mobile robot state-space model can be considered as two subsystems of a cascade and then feedback passivation of cascades can be utilized for stabilization of the whole system dynamics.