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This paper studies the tracking control of nonholonomic mobile robots with bounded velocities and accelerations. Two first-order filters driven by the tracking errors are developed to produce bounded and uniformly continuous feedback signals for the tracking controller. The feedback signals and their time derivatives are directly constrained by two filter parameters. A set of four inequality conditions...
This brief is concerned with the tracking control of differential-drive mobile robots with diamond-shaped input constraints. The strategy of designing time-varying feedback parameters for the tracking controller is used to cope with the challenge presented by input constraints. Sufficient conditions on the feedback parameters are proposed to guarantee the asymptotic stability of the tracking error...
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