Nonholonomic wheeled mobile robots are often required to implement algorithmsdesigned for holonomic kinematic systems. This creates a velocity trackingproblem for the actual wheeled mobile robot. In this paper, we investigate theissue of tracking the desired velocity in the least amount of time, for adifferential drive nonholonomic wheeled mobile robot. If the desired velocityis a constant, the Pontryagin Maximum Principle can be used to design acontrol. A control is designed for the cases when the wheel can be commandedspeeds and torques. When the desired velocity is smoothly time-varying, wepropose a hybrid structure and study its properties.
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