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Abstract
A slate-feedback controller for the position and orientation of a non-holonomic mobile robot is analysed, designed and implemented. The analysis is based on the polar description of the robot's kinematics in contrast to the Cartesian description used by other authors. It turns out that the origin is stabilizable using a state-feedback which removes the kinematic singularity from the open-loop description. The controller performance is enhanced by tuning the feedback gains according to few fuzzy rules. These are so formulated to produce an almost straight-line approach towards the goal position and finally adjusting the orientation to the desired value
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