Control of two-wheeled mobile robot via homogeneous semiconcave control Lyapunov function: Verification by experimental results

Abstract

We proposed a control law of a homogeneous semiconcave control Lyapunov function for a two-wheeled mobile robot. However, we have not confirmed the effectiveness of the proposed method by an experiments. In this paper, we apply the proposed method to a Roomba, a two-wheeled mobile robot and confirm the effectiveness of the proposed method.