A stable tracking control method for a non-holonomic mobile robot

Proposes a stable control rule to find a reasonable target linear and rotational velocities ( nu , omega )/sup t/. The stability of the rule is proved through the use of a Lyapunov function. The rule contains three parameters, K/sub x/, K/sub y/ and K/sub theta /. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system's differential equation. This method was successfully implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained turn out to be close to the results with the velocity/acceleration limiter.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>