Control of a non-holonomic mobile robot

Abstract

Non-holonomic system is a mechanical system that is subject to non-holonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. In this project, the application of two different types of kinematics controller are examined and analysed. Both of the controllers are using Lyapunov method which is the simplest and successful method in kinematics stabilization. The first controller guarantees to be global asymptotically stable tracking control and the second controller guarantees to be asymptotically stable tracking control. Both controllers are able to control a non-holonomic mobile robot to track the desired trajectory. All simulations are performed using SIMULINK/MATLAB.