Control of Wheeled Mobile Robot via Discontinuous Transformation Method

Wheeled mobile robots form a subcategory of mobile robots and are usually accompanied with geometric constraints on their velocities. These constraints do not allow the robots to move in any path that only does not collide with obstacles, in order to move from one point to another. On the other hand, the nonlinear nature of these systems makes their control difficult. Our daily experiences show that these systems are controllable but cannot be controlled by usual methods. One approach in motion planning and control of these systems is discontinuous transformation method. In this study, we try to change nonlinear nature of equation to linear form then we use state feedback to make transmuted parameters tend to zero. In addition, using Lyapanov solution is used to solve the obtained Silvestre equations. This method is able to give us a convenient response in most cases and we try to generalize this method to reach a complete solution.

Keywords:

Discontinuous transformation method , Nonholonomic systems , Wheeled mobile robots