Position control of two-wheeled mobile robot via semiconcave function backstepping

Abstract

Integrator backstepping is an effective control Lyapunov function (CLF) design method. However, the method requires a smooth CLF of the subsystem. In this paper, we propose a CLF design method with locally semiconcave control Lyapunov function for Two-Wheeled Mobile Robot with Dynamics. Finally, we confirmed the effective of the proposed method by computer simulation.