Saturated tracking control for nonholonomic mobile robots with dynamic feedback

摘要

The saturated tracking control problem is addressed for nonholonomic mobile robots with dynamic feedback in this paper. A finite-time control technique and the virtual-controller-tracked method are adopted in this paper. The main contribution and innovation can be summarized as follows. First, the smooth kinematic tracking controller of Jiang et al. is taken as a virtual control law for the dynamic feedback model. Second, a continuous and bounded dynamic feedback controller is proposed to make the generalized velocity converge to the kinematic (virtual) controller in a finite time for any initial values of tracking errors in the specified attraction region. Third, all of the states of the tracking error system are proved to go to zero as time goes to infinity. In the mean time, the control inputs are bounded by the prespecified bounds at any time. Finally, the simulation results show the effectiveness of the proposed control design approach.