ABSTRACT
This chapter addresses the stabilization and tracking control of nonholonomic mobile robots with parametric uncertainties and external disturbance in the presence of input saturation. The torques are designed such that the bounds of the torques are functions of only design parameters and reference trajectory, which are computable in advance. For a given reference trajectory, design parameters are chosen such that the bounds of the torques are within the given saturation limits. The controller design is divided into two steps. Firstly authors develop virtual control laws for υ and w based on the kinematic model in such a way that the mobile robot will follow the pre-established reference trajectory. Secondly they derive a design law for sat(τ) based on the dynamic model so that υ and w would converge to the designed virtual controls. Through their design and derivation, suitable normalization is introduced to certain signals.
