Stabilisation of nonholonomic wheeled mobile robot using switched control-theory and experiment

This paper addresses the problem of asymptotic stabilisation of wheeled mobile robot (WMR) under imperfect switching and an appropriate switching sequence is formulated. The proposed robust controller can move the mobile robot from any initial arbitrary position and orientation to the desired position and orientation. The controller design is based on a coordinate transformation that facilitates the design of a sequential control action that moves the mobile robot from one point to another point. The robustness and stability of the closed-loop system using the proposed control strategy is analysed using common Lyapunov functions approach and it is shown that the origin is asymptotic stable in the sense of Lyapunov. The proposed controller is simulated and experimentally verified on a prototype car-like wheeled mobile robot to evaluate the performance.