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.
- Input saturation
- Nonholonomic mobile robot
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science(all)
- Mechanical Engineering
- Electrical and Electronic Engineering