Global asymptotic stabilization and tracking of wheeled mobile robots with actuator saturation

Abstract

This paper addresses the problem of designing global asymptotically stabilization and tracking control for wheeled mobile robots in the presence of input saturation. The saturated stabilizing and tracking controller synthesis is based on a unified coordinate transformation. Lyapunov-based arguments are employed to prove global asymptotic stabilization and tracking. Simulations are included to illustrate the effectiveness of the proposed approach.