Guiding functions in application to feedback control of a robotic platform

This paper presents a novel, systematic approach to the construction of feedback control for stabilization to a set point of drift free systems. The method relies on the introduction of a set of guiding functions whose sum vanishes only at the reference set point. The guiding functions are not Lyapunov functions, however, a comparison of their values allows one to determine a desired direction of system motion and permits construction of a sequence of controls such that the sum of the guiding functions decreases in an average sense. The method is applied to control a model of a four wheeled platform which can serve as a support for a mobile robot.