Quasi-continuous exponential stabilizing controller using single input absorption control by invariant manifold

The modified error system expressed by nonholonomic double integrator model is investigated to apply to a mobile robot steered by two independent driving wheels. Robot control method is formulated using invariant manifold. The controller utilizes two step processes of absorption control and feedback control. Absorption control by designed is based on single input. These two processes are integrated to a quasi-continuous exponential stabilizing controller. Stability of the controller is analytically proved. Simulation results verify that single input absorption control can converge in quasi-continuous exponential stabilizing control. Characteristics of the controllers are compared to conventional methods.