Discontinuous stabilization control of nonholonomic WMR with actuator dynamics being considered

This paper studies the discontinuous stabilization control of wheeled mobile robots with the actuator dynamics being considered. On the basis of polar coordinate representation and backstepping technique, control law designed for the kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved, asymptotic convergence of the closed-loop system is guaranteed by the Lyanpunov´s stability theory. Finally simulation results for point-to-point stabilization control task are presented.