Generalized Minimum Projection Method and Its Application to Two Wheeled Mobile Robot Control

In this paper, we propose a generalized minimum projection method considering finitely many layers, desingularization and the stabilization toward the set. Moreover, we propose two global CLFs: with orientation and without orientation of the robot by generalized minimum projection method. Then, we propose a controller based on the proposed CLFs. The effectiveness of the proposed controllers is confirmed by computer simulation.