Nonlinear Control Design for Path Following Stabilization of a Wheeled Robot under the Action of an External Uncontrollable Disturbance

A decomposition procedure for the synthesis of linear and nonlinear feedbacks that stabilizes linear and angular deviations from a given path invariant to external disturbances is developed to solve the problem of track stabilization of a mobile robot on the plane, taking into account the restrictions on state variables and control. Simulation results are presented.