Time-invariant stabilization of a unicycle-type mobile robot: theory and experiments

We develop two time-invariant control laws for a unicycle-type mobile robot. A mobile robot of this type is an example of a system with a nonholonomic constraint. Similarly to the majority of results in the literature thus far, the controllers are based on the robot´s kinematic model. They do not directly address realistic factors such as motor dynamics, quantization, sensor noise or delay which may affect the robot stability and performance. We use a Khepera robot to compare the performance of these controllers in a realistic situation that includes all the previous factors