Asymptotic control for wheeled mobile robots with driftless constraints

An asymptotic control with driftless constraints is proposed for wheeled mobile robots with the convergence proof by using Lyapunov stability theory. Findings show that the behavior of the motion controller asymptotically converges to the reference trajectory and in the numerical simulation, the performance of the asymptotic control is effective without zigzag movement in both ideal and nonideal velocity controllers for two driving wheels with the appropriate selection of control parameters.