Switched Feedback Tracking Control of a Nonholonomic Mobile Robot

This paper studies the tracking problem for a car-like nonholonomic mobile robot. A switched feedback control law is developed to achieve global tracking. The control law avoids singularities arising from coordinate transformations used to describe the robot kinematics in chained form. The paper provides a detailed derivation of the control law. Simulation examples are included to illustrate the effectiveness of the tracking controller