Further results of semiglobal saturated stabilization for nonholonomic mobile robots

Abstract

Compared with [1], further results of semiglobal practical stabilization for a class of uncertain nonholonomic mobile robots with input saturation is considered in this paper. Based on a new switching control design strategy, the saturated stabilized controller is presented in the presence of parametric uncertainties and angle measurement disturbance. Under the proposed controller, it is rigorously proved that all the states of the closed loop system can be stabilized to an arbitrarily prescribed small neighborhood of the origin. Finally, a numerical example illustrate the effectiveness of the control design method.