Feedback control of nonholonomic mobile robots using time base generator

The present paper proposes a new feedback control strategy of mobile robots with nonholonomic constraints. This method introduces a function generator called a time base generator (TBG) as a time varying feedback gain, and by synchronizing linear and angular velocities of the mobile robot with a scalar variable generated by the TBG, the mobile robot can be positioned to the origin in the state space for any initial condition. Not only the configuration of the robot but also the time behavior of the generated trajectory such as the velocity profile and the movement time from an initial to a target position can be regulated through adjusting the parameters of the TBG