Robust Stabilization for a Class of Dynamic Feedback Uncertain Nonholonomic Mobile Robots with Input Saturation

In this paper, the robust stabilization problem is addressed for a class of dynamic feedback uncertain nonholonomic mobile robots with input saturation. Firstly, a continuous, time varying, saturated controller is presented for the kinematic system of the robots. Secondly, for the dynamic feedback system, a special derivable, saturated kinematic controller with slope restrictions is selected as a virtual control law that can be tracked by the real generalized velocity in a finite time, furthermore, the dynamic input signals are continuous and saturated at any time. The systematic strategy combines the theory of finite-time stability with the virtual-controller-tracked method. Finally, the simulation results show the effectiveness of the proposed controller design approach.