A hybrid strategy for the feedback stabilization of nonholonomic mobile robots

摘要

A hybrid strategy for the control of nonholonomic mobile robots is proposed and assessed, using both theoretical arguments and simulation experiments. The control law is a discontinuous state feedback that combines the advantages of time-invariant smooth feedback control far from the target and of time-varying smooth feedback control close to the target, while avoiding their respective drawbacks.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>