Saturated stabilization and tracking of a nonholonomic mobile robot

Zhong Ping Jiang, Erjen Lefeber, Henk Nijmeijer

Research output: Contribution to journalArticlepeer-review


This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

Original languageEnglish (US)
Pages (from-to)327-332
Number of pages6
JournalSystems and Control Letters
Issue number5
StatePublished - 2001


  • Input saturation
  • Nonholonomic mobile robot
  • Stabilization
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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