Global exponential setpoint control of mobile robots

This paper presents a new smooth time-varying controller for the stabilization problem about a fixed setpoint for a wheeled mobile robot. The structure of the proposed control algorithm relies on a previously designed controller for the induction motor. After the WMR kinematics/dynamics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a standard exponential stability result for the transformed dynamics via a Lyapunov-type argument. Simulation results are presented to demonstrate the performance of the proposed controller