A discontinuous control of a nonholonomic wheeled mobile robot

As is well known, the class of nonholonomic systems cannot be asymptotically stabilized using continuous static state feedback controls. In this paper a discontinuous control system is proposed for a wheeled mobile robot which is known as a nonholonomic system. The parameters of the controller, which are defined in the form of a step function, are optimized by genetic algorithm (GA). In order to make the problem more feasible, constraints are applied to the system velocities and position. Simulation results with different initial system configurations show that the controller could generate piecewise continuous inputs to control the system effectively within the given constraints.