Unified motion controller design and FPGA-based implementation for nonholonomic mobile robots

This paper presents techniques for design and system-on-a-programmable-chip (SoPC) realization of a kinematics controller to achieve simultaneous tracking and regulation for a nonholonomic two-wheeled mobile robot moving at low speeds. The kinematics controller is designed based on the Lyapunov stability theory, and the proposed motion control law is then implemented into a FPGA development board (Altera´s NIOS II development kit, Stratix II edition). Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed FPGA-based controller for nonholonomic mobile robots.