A stable tracking control method for a non-holonomic mobile robot

Proposes a stable control rule to find a reasonable target linear and rotational velocities (ν, ω)^t. The stability of the rule is proved through the use of a Lyapunov function. The rule contains three parameters, K_x, K_y and K_θ. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system´s differential equation. This method was successfully implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained turn out to be close to the results with the velocity/acceleration limiter