Control Design for Mobile Robot Based on Step-by-step Point Stabilization

Abstract

In this paper the control object is non-holonomic mobile robot and the control problem focus on point stabilization which is one of the most important issues on non-holonomic mobile robot motion control in view of both theory and application. The integrity of mobile robot kinematic model and the position error formula is established under the polar coordinates for point stabilization problem. Then the step-by-step point stabilization control problem is studied where the method of kinematic control design is given. By successively changing the state variables, the mobile robot will get the expecting position and will be step-by-step convergence. On the basis of this point stabilization control law the simulation is carried on by MATLAB. The results prove the feasibility of the controller.