Stabilization of motion of a wheeled robot with constrained control
resource by means of a continuous feedback linearizing the
closed-loop system in a neighborhood of the target path is
considered. The problem of selection of the feedback coefficients is
set and discussed. In the case of a straight target path, the
desired feedback coefficients are defined to be those that result in
the partition of the phase plane into two invariant sets of the
nonlinear closed-loop system while ensuring the greatest asymptotic
rate of the deviation decrease. A hybrid control law is proposed
that ensures the desired properties of the phase portrait and
minimal overshooting and is stable to noise. The proposed techniques
are extended to the case of circular target paths.