Overview : This project develops a Lyapunov-stable controller for wheeled mobile robots to track prescribed point-to-point trajectories. Leveraging the differential flatness of the robot’s kinematic model, the controller is designed in the flat output space and stabilized using a Lyapunov-based feedback law. To address potential singularities in mapping flat-space controls to physical coordinates, a Tikhonov regularization method is introduced. Benchmark trajectories, including parallel parking maneuvers parameterized with Jacobi elliptic functions, are used to evaluate performance.

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