Control of Two-wheeled Mobile Robot via Homogeneous Semiconcave Control Lyapunov function

Semiconcave control Lyapunov functions for globally asymptotic stabilizing control-lable systems are available. However, a semiconcave control Lyapunov function for nonholonomic systems has not been proposed yet. For a two-wheeled mobile robot, we construct a homogeneous semiconcave control Lyapunov function and a control law with the function. The advantages of the proposed method are confirmed by computer simulation.