This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.

中文翻译：

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一种新的非完整移动机器人点稳定控制策略的仿真与实验结果

本文介绍了一种移动机器人的闭环位置控制，它能够通过操纵其线速度和角速度从其当前位置移动到目标点。本文的主要目的是基于运动学模型修改现有的控制律，以提高机器人向后定向时的响应，并以更短的时间和更短的轨迹到达目的地点。所提议的控制律的稳定性由李雅普诺夫准则验证。实施了一些程序以在 MATLAB 仿真和 Khepera IV 机器人实验中测试此方法。