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arXiv · 2510.14931

Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots

Bo Wang·Tianyu Han·Guangwei Wang
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Abstract

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.

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Bo Wang, Tianyu Han, Guangwei Wang. 2025-10-16. Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots. https://doi.org/10.1115/1.4070495

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