Configuration Constrained Stabilization of a Wheeled Mobile Robot— Theory and Experiment

We propose a nonlinear control law based on sliding mode control technique to stabilize a mobile robot while adhering to the physical constraints on its configuration variables. The notion of constrained stabilization is used to prove the stability of the closed-loop system. A key contribution is the design of controller gains in accordance to the restrictions on the initial condition domain. The proposed technique is validated through both numerical simulation and experimental results.