In this paper, we propose a two-loop structure to transform and
stabilize the kinematic model of a nonholonomic mobile robot with two
independently driven wheels. This two-loop structure consists of input-output
pseudolinearization and gain scheduling techniques. A comparison with previous
methods is included. The main contribution of this paper is to apply a
input-output pseudolinearization transformation method and to use an effective
pole-assignment strategy for stabilizing a mobile robot with two independently
driven wheels. The proposed method has demonstrated superiority over previous
methods.