Trajectory tracking control for wheeled mobile robots with input saturation

Abstract

This paper studies the trajectory tracking control of wheeled robots under input saturation. Firstly, a new kinematics controller is proposed based on a new Lyapunov function and the mathematical properties of the saturation function is used to select parameters of the controller. Then the global stability of the tracking error system is directly obtained by the new Lyapuonov function and the Barbalat's lemma. Finally, the effectiveness of the controller is verified by a numerical simulation.