Position control of four-wheeled mobile vehicle via locally semiconcave control Lyapunov function

Kimura et al. proposed a locally semiconcave control Lyapunov function for position control of a two-wheeled mobile vehicle. However, they did not consider application of the locally semiconcave control Lyapunov function to position control of four-wheeled mobile vehicle. In this paper, we propose a position control law of a four-wheeled mobile vehicle by using nonlinear optimization theory with the locally semiconcave control Lyapunov function. The advantages of the proposed method are confirmed by computer simulation.