2025/11/19 by Todorovski, Velimir, Kim, Kwang Hak, Astolfi, Alessandro +1 · 2 citations
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2511.15119
openalex publication_date 2025/11/19 · openalex created_date 2025/11/23 · openalex updated_date 2026/07/28
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the forward velocity to decouple the radial coordinate, allowing the steering subsystem to be stabilized independently. Within this structure, we develop families of feedback laws using passivity, backstepping, and integrator forwarding. Each law is accompanied by a strict control Lyapunov function, including barrier variants that enforce angular constraints. These strict CLFs provide constructive class KL convergence estimates and enable eigenvalue assignment at the target equilibrium. The framework generalizes and extends prior modular and nonmodular approaches, while preparing the ground for inverse optimal and adaptive redesigns in the sequel paper.