Path-following and point-stabilization control laws for a wheeled mobile robot

Two main problems, concerning wheeled mobile robots, have attracted extensively the attention of many authors in the literature: the path following and the stabilization problems. In this paper, we present a nonlinear pure-state feedback based on partial state feedback linearization and Lyapunov method for the path following problem, and a discontinuous time-varying state feedback for the stabilization problem. The desired path is described by the motion of a fictitious reference robot with the same kinematics constraints as the real mobile robot.