Supervisory control of a mobile robot for agile motion coordination

A novel approach to agile motion coordination for a mobile robot is presented. Agile maneuvering is represented by the ability of the mobile robot to track sharply discontinuous trajectories. A supervisory control framework is developed that orchestrates switching among multiple controllers to track nonsmooth trajectories. The stability of the individual controllers and the internal dynamics are proved. The stability of the switching scheme is analyzed using multiple Lyapunov functions. Results from a detailed computer simulation are presented to demonstrate the efficacy of this new approach.