Kinematics Model Based Motion Control of a 4WIS Mobile Robot with Lyapunov Stability

Small mobile robots have been considered as a new solution to replace conventional heavy machinery. The small mobile robot needs to have high maneuverability, especially on the farm field. With a four-wheeled independent steering system, it is expected that it provides better maneuverability for small mobile robot operation. Therefore, a kinematic model of four-wheeled standalone steering configuration is derived as the global controller reference. Then the control-Lyapunov function is employed to deal with nonlinearities of the mobile robot position error dynamic. Path following simulations of the four-wheeled independent steering mobile robot are implemented to assess the proposed controller performance. The simulation results show that the proposed controller provides satisfactory performance.