@article {10.3844/jmrsp.2020.1.7, article_type = {journal}, title = {Asymptotic Stability of Unicycle-Like Robots: The Bessel’s Controller}, author = {García, Andrés G.}, volume = {4}, year = {2020}, month = {Jan}, pages = {1-7}, doi = {10.3844/jmrsp.2020.1.7}, url = {https://thescipub.com/abstract/jmrsp.2020.1.7}, abstract = {Asymptotic stability of unicycle-like robots proved to be involved due to Brockett's condition. By using a smooth, time-invariant controller constructed out of Bessel’s functions, in this paper unicycle-like robots are uniformly-exponentially stabilized to the origin. The pure feedback controller obtained provides closed-form trajectories with the possibility of a simple and feasible (hardware) non-linear observer construction from posture angle measurements solely. Two examples are presented: Asymptotic steering of a unicycle to the origin using gyros and a perfect non-linear observer reconstruction states along with conclusions and future work.}, journal = {Journal of Mechatronics and Robotics}, publisher = {Science Publications} }