| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 714440 | IFAC Proceedings Volumes | 2013 | 6 Pages |
Abstract
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.
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