Abstract
In this paper, we studied the gain tuning of pseudo-continuous exponential stabilization control (PCESC) for a nonholonomic system. The control approach was based on invariant manifold using state vector of chained form which was one of canonical forms for nonholonomic system. The chained form was derived through the state variable transform from kinematics. The state vector in chained form converged to the desired value according to the PCESC. Unfortunately, the state vector of kinematics converged to the desired value with some switching points. The number of these switching points changed due to gains of the PCESC. We verified the relationship between the number of switching points and gains by some numerical simulations of the mobile robot with two independent driving wheels. Consequently, we found that the number of switching points was dependent on the overshoot on state vector of kinematics.
