Set Stabilization of Nonholonomic Mobile Robots

Conventional stabilizing controllers for the nonholonomic systems stabilize the closed loop system to a target point. In this paper, considering the kinematic model of nonholonomic mobile robots, a design approach based on set stabilizing control is proposed. The proposed control laws can stabilize the closed loop system asymptotically to a set of given target points. First, for the one-order subsystem of the heading angle, a state feedback control law is designed to guarantee that the state of the closed loop subsystem is asymptotically stabilized to a set of target points. Second, for the second-order subsystem of the planar coordinates of the mass center, a state feedback control law is designed to guarantee that the states of the closed loop subsystem are both asymptotically stabilized to zero. Simulation results show the effectiveness of our method.