Global asymptotic stabilization of mobile robot using smooth guidance law

It is well known that although nonholonomic systems are open-loop controllable, they can not be stabilized by using static state feedback. In this paper, we suggest the use of dynamic feedback strategy stemmed from missile guidance law to stabilized a nonholonomic system-a mobile robot. A particular smooth controller is shown to asymptotically stabilize the mobile cart about an arbitrary target position. Unlike the existing approaches, such as sliding mode controller and Lyapunov function-based controller, it does not require any switching operation. The asymptotic stability is proved analytically, and the simplicity and effectiveness of the proposed scheme are verified by numerical simulations.