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

The major objective of this paper is to propose a stable control rule to find a reasonable target linear and rotational velocities (v, w)'. The stability of the rule is proved through the use of a Liapunov function. The rule contains three parameters, Kx, Ky and Ke. 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 tum out to be close to the results with the velocity/acceleration limiter.