Global exponential setpoint control of wheeled mobile robots: a Lyapunov approach

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the di!erentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model. 2000 Elsevier Science Ltd. All rights reserved.