Trajectory tracking control of nonholonomic mobile robot with input saturation constraints

Abstract

The trajectory tracking control problem of nonholonomic wheeled mobile robot with input saturation constraints was considered.Based on the kinematic model of the mobile robot,a smooth time-varying tracking controller was proposed.It was proved that the controller can satisfy input saturation constraints and guarantee the uniform stability of the closed-loop system.Furthermore,if the desired linear velocity of the mobile robot does not converge to zero,the closed-loop system is globally asymptotically stable.The simulations results show the effectiveness of the proposed tracking control law.