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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.14931 |
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| _version_ | 1866910085980094464 |
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| author | Wang, Bo Han, Tianyu Wang, Guangwei |
| author_facet | Wang, Bo Han, Tianyu Wang, Guangwei |
| contents | In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma m-QP) framework, which unifies control Lyapunov functions (CLFs) and control barrier functions (CBFs) to enforce both stability and safety in the closed-loop system. For the first time, we construct a global, time-invariant, strict Lyapunov function for the closed-loop nonholonomic mobile robot full-dynamic system with a nominal stabilization controller in polar coordinates; this strict Lyapunov function then serves as the CLF in the QP design. Next, by exploiting the inherent cascaded structure of the vehicle dynamics, we develop a CBF for the mobile robot via an integrator backstepping procedure. Our main results guarantee both asymptotic stability and safety for the closed-loop system. Both the simulation and experimental results are presented to illustrate the effectiveness and performance of our approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_14931 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots Wang, Bo Han, Tianyu Wang, Guangwei Systems and Control In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma m-QP) framework, which unifies control Lyapunov functions (CLFs) and control barrier functions (CBFs) to enforce both stability and safety in the closed-loop system. For the first time, we construct a global, time-invariant, strict Lyapunov function for the closed-loop nonholonomic mobile robot full-dynamic system with a nominal stabilization controller in polar coordinates; this strict Lyapunov function then serves as the CLF in the QP design. Next, by exploiting the inherent cascaded structure of the vehicle dynamics, we develop a CBF for the mobile robot via an integrator backstepping procedure. Our main results guarantee both asymptotic stability and safety for the closed-loop system. Both the simulation and experimental results are presented to illustrate the effectiveness and performance of our approach. |
| title | Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.14931 |