Lyapunov-Based $\mathcal{L}_2$-Stable PI-Like Control of a Four-Wheel Independently Driven and Steered Robot
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866910024563949568 |
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| author | Ćaran, Branimir Milić, Vladimir Jerbić, Bojan |
| author_facet | Ćaran, Branimir Milić, Vladimir Jerbić, Bojan |
| contents | In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, structurally verified model is used to enable systematic controller design with stability and performance guarantees suitable for real-time operation. A Lyapunov function is constructed to yield explicit bounds and $\mathcal{L}_2$ stability results, supporting feedback synthesis that reduces configuration dependent effects. The resulting control law maintains a PI-like form suitable for standard embedded implementation while preserving rigorous stability properties. Effectiveness and robustness are demonstrated experimentally on a real four-wheel mobile robot platform. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_15424 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Lyapunov-Based $\mathcal{L}_2$-Stable PI-Like Control of a Four-Wheel Independently Driven and Steered Robot Ćaran, Branimir Milić, Vladimir Jerbić, Bojan Robotics In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, structurally verified model is used to enable systematic controller design with stability and performance guarantees suitable for real-time operation. A Lyapunov function is constructed to yield explicit bounds and $\mathcal{L}_2$ stability results, supporting feedback synthesis that reduces configuration dependent effects. The resulting control law maintains a PI-like form suitable for standard embedded implementation while preserving rigorous stability properties. Effectiveness and robustness are demonstrated experimentally on a real four-wheel mobile robot platform. |
| title | Lyapunov-Based $\mathcal{L}_2$-Stable PI-Like Control of a Four-Wheel Independently Driven and Steered Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.15424 |