Steering Control Algorithm for Drift-Free Control Systems using Model Decomposition: a wheeled Mobile robot of Type (1, 1) Example

This paper presents a steering algorithm for drift-free control systems having control deficiency ≥2, based on the construction of a cost function V that is the sum of two semi-positive definite functions V1 and V2. These semi-positive definite functions are obtained by decomposing the system into two subsystems. The task of the algorithm is to decay the nondifferentiable cost function V along the controlled system trajectories in an average sense by first decaying the function V1 using the trajectory interception approach and then decaying the function V2 by using sinusoidal inputs. The effectiveness of the strategy is tested on a wheeled mobile robot of type (1, 1), which is a typical example of drift-free system with control deficiency ≥2.