Posture stabilization using a model free controller

In this paper we deal with the problem of the posture stabilization control task for a wheeled mobile robot. The control approach developed in this work does not need any a-priori knowledge about the model of the robot. The controller uses errors between both the posture of the robot and the desired posture in order to compute virtual velocities (υ_x and υ_y) which are necessary to compute the control inputs: traction velocity and steering angle. These ones allow the convergence of the system toward the desired position. Simulation results show the applicability of the control method for the posture stabilization of the car-like.