HYBRID STABILIZING CONTROL ON A REAL MOBILE ROBOT

To establish empirical verification of a stabilizing controller for no n-holonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also a ddressed through a velocity controller which transforms the mobile rob ot to a new system with linear and angular velocity inputs. Experiment s in the physical meaning of different controller components provide i nsights which result in significant improvements in controller perform ance.