This paper proposes a stable tracking control rule for non-bolonomic vehicles. Stability of the rule is proved through the use of a Liapunov function. Input to the vehicle are a reference posture (x,, y,, 8,)' and reference velocities (v,, ar)'. The major objective of this paper is to propose a control rule to find a reasonable target linear and rotational velocities (v, a ) ' .Linearizing the system's differential equation is useful to decide parameters for critical dumping for a small disturbance. In order to avoid any slippage, a velocity/acceleration limitation scheme was introduced. Several siniulation results are presented with or without the velocity/acceleration limiter. The control rule and limiting method proposed in this paper are robot-independent and hence can be applied to various kind of mobile robots with a dead reckoning ability. This method was implemented on the autonomous mobile robot Yamabico-11.Experimental results obtained are close to the results with the velocity/acceleration limiter.

The major objective of this paper is to propose a stable control rule to find a reasonable target linear and rotational velocities (v, w)'. The stability of the rule is proved through the use of a Liapunov function. The rule contains three parameters, Kx, Ky and Ke. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system's differential equation. This method was successfully implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained tum out to be close to the results with the velocity/acceleration limiter.

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