Tracking control of nonholonomic mobile robots with velocity and acceleration constraints

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 on the filter parameters and a feedback parameter is derived to guarantee the satisfaction of the velocity and acceleration constraints. The system stability is proved by the Lyapunov stability theory. Simulation results are provided to verify the effectiveness of our proposed tracking controller.