Nonlinear Trajectory-Tracking Control of a Car-Like Mobile Robot in the Presence of Input Saturations and a Pulse Disturbance

Abstract

This study aims to attain trajectory-tracking of a car-like mobile robot (CLMR). First, motion planning is developed based on a virtual CLMR with the same kinematics to an actual CLMR. Then, the position error model between the virtual and actual CLMRs is established for the purpose of a controller design. The proposed nonlinear trajectory tracking control (NTTC) scheme is constructed such that the position error of the CLMR (i.e., 2D pose and orientation) asymptotically converges to zero and the system stability is proven based on the Lyapunov stability criteria. Finally, the corresponding simulations including injection of input saturation and a sudden pulse disturbance are conducted to verify the effectiveness, feasibility and robustness of the proposed controller.