In this paper, we present a design of an asymptotically stabilizing controller for a two-wheeled mobile robot. A controller based a semiconcave control Lyapunov function stabilizes the origin of a chained form system, which can be transform into the two-wheeled mobile robot system. Then, we introduce degrees
of freedom of the transformation, and show some semiconcave control Lyapunov functions. The effectiveness of the proposed method are conrmed by computer simulation.
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