Output maneuvering control scheme for a car-like mobile robot

In this paper, we propose an output maneuvering nonlinear controller for the car-like mobile robot. The control approach is based on a combination of the input-output feedback linearization control technique and the output maneuvering control approach introduced in [1]. It is shown that the closed-loop system is asymptotically stable and the path following error converges asymptotically to zero when an accurate car-like mobile robot localization system is available, and it is shown that when the car-like mobile robot position is not accurately estimated (for instance, under the influence of noise measurements) the closed-loop dynamics remains ultimately bounded. Numerical simulations are performed to show the overall performance of the proposed scheme in both cases.