抄録
Wheeled mobile robots are representative of nonholonomic systems. It is already known that there does not exist a continuous state feedback law to stabilize a nonholonomic system to a single equilibrium point. However, it may be possible to stabilize a nonholonomic system to a manifold, instead of a single equilibrium point, by using continuous state feedback. In this paper, we show that by suitably choosing a cartesian coordinate the position (corresponding to a manifold in the configuration space) of mobile robots can be controlled very easily.
