Implementation of Time-Varying Controllers for a Nonholonomic Mobile Robot: Experimental Studies
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866908956531621888 |
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| author | Zuyev, Alexander Grushkovskaya, Victoria Eisner, Sebastian |
| author_facet | Zuyev, Alexander Grushkovskaya, Victoria Eisner, Sebastian |
| contents | We consider a kinematic model of a wheeled mobile robot controlled by translational and angular velocities. For this class of nonholonomic systems, a family of time-varying feedback controllers was proposed in our previous works using gradient flow approximation techniques. In the present study, these controllers are implemented on a TurtleBot3 Burger (TB3) mobile robot to provide experimental validation of the stabilization problem with oscillating input signals. In addition, the admissibility problem of a gradient flow is investigated to justify the construction of a Lyapunov function candidate. The presented experimental results demonstrate the possibility of stabilizing the reference position of the robot using feedback controls with practically acceptable parameters. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_19334 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Implementation of Time-Varying Controllers for a Nonholonomic Mobile Robot: Experimental Studies Zuyev, Alexander Grushkovskaya, Victoria Eisner, Sebastian Optimization and Control 93D15 We consider a kinematic model of a wheeled mobile robot controlled by translational and angular velocities. For this class of nonholonomic systems, a family of time-varying feedback controllers was proposed in our previous works using gradient flow approximation techniques. In the present study, these controllers are implemented on a TurtleBot3 Burger (TB3) mobile robot to provide experimental validation of the stabilization problem with oscillating input signals. In addition, the admissibility problem of a gradient flow is investigated to justify the construction of a Lyapunov function candidate. The presented experimental results demonstrate the possibility of stabilizing the reference position of the robot using feedback controls with practically acceptable parameters. |
| title | Implementation of Time-Varying Controllers for a Nonholonomic Mobile Robot: Experimental Studies |
| topic | Optimization and Control 93D15 |
| url | https://arxiv.org/abs/2602.19334 |