In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, structurally verified model is used to enable systematic controller design with stability and performance guarantees suitable for real-time operation. A Lyapunov function is constructed to yield explicit bounds and $\mathcal{L}_2$ stability results, supporting feedback synthesis that reduces configuration dependent effects. The resulting control law maintains a PI-like form suitable for standard embedded implementation while preserving rigorous stability properties. Effectiveness and robustness are demonstrated experimentally on a real four-wheel mobile robot platform.

翻译：本文提出了一种基于李雅普诺夫方法的类比例-积分（PI）控制器综合方案，用于实现独立驱动转向四轮移动机器人的$\mathcal{L}_2$稳定运动控制。通过采用一个经过结构验证的显式模型，实现了具有稳定性和性能保证的系统化控制器设计，适用于实时运行。构建了一个李雅普诺夫函数，以导出显式边界和$\mathcal{L}_2$稳定性结果，从而支持能够减少构型依赖效应的反馈综合。所得控制律保持了适用于标准嵌入式实现的类PI形式，同时保留了严格的稳定性。在一个真实的四轮移动机器人平台上通过实验验证了该方法的有效性和鲁棒性。