Kinematic and dynamic control of a wheeled mobile robot

This paper considers the problem of stabilizing a unicycle-type mobile robot using a time-invariant, discontinuous control law. In order to simplify the control design, most previous approaches neglect second-order system dynamics (compensating for them later using techniques such as partial feedback linearization). This paper shows that an approach based on invariant manifold theory can be extended to account for these dynamics. The performance of the resulting control law is demonstrated in simulation.