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Trajectory tracking controller design for wheeled Mobile robot with velocity and torque constraints

Author

Listed:
  • Jianjun Bai
  • Zexin Yang
  • Zuxin Li
  • Chaojie Shen
  • Yun Chen
  • Jianning Li

Abstract

This article investigates the trajectory tracking control problem for wheeled mobile robot (WMR) subject to both velocity and torque constraints. Firstly, a more general model is established by considering the displacement between the centre of mass and the midpoint of the driving wheels of the WMR, based on which, a new bounded kinematic controller is proposed by combining the first-order filtering approach to keep the trajectory tracking error asymptotically stable. Then the dynamic controller is designed and the stability of the overall closed-loop system is proved by the Lyapunov stability theory and Barbalat's lemma. Some conditions are given to ensure that both the velocity constraints and torque constraints are satisfied. Finally, some numerical examples are given to show the effectiveness and advantages of the method proposed in this paper.

Suggested Citation

  • Jianjun Bai & Zexin Yang & Zuxin Li & Chaojie Shen & Yun Chen & Jianning Li, 2024. "Trajectory tracking controller design for wheeled Mobile robot with velocity and torque constraints," International Journal of Systems Science, Taylor & Francis Journals, vol. 55(14), pages 2825-2837, October.
    • Handle: RePEc:taf:tsysxx:v:55:y:2024:i:14:p:2825-2837
    DOI: 10.1080/00207721.2024.2354844
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