Nonlinear control design using Lyapunov function for two-wheeled mobile robots

This paper presents a nonlinear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalization and partial feedback linearization. The latter allows linearizing only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilization and velocity tracking for a statically unstable two wheeled mobile robot.