Closed loop control of the motion of a cart Original Research Article

This work deals with the guidance and control of the motion of a cart. The cart is composed from two wheels and an axle that passes through their centers. Each of the cartʹs wheels is controlled separately. Given two points P and Q in the horizontal plane. By using the concept of path controllability, a closed-loop control law for the cartʹs wheels is derived, to bring the axleʹs center from P to Q during a given time interval [0,tf].