Lyapunov function-based non-linear control for two-wheeled mobile robots

This article presents a non-linear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalisation and partial feedback linearisation. The latter allows linearisation of only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilisation and velocity tracking for a statically unstable two wheeled mobile robot.