Stabilization of nonholonomic kinematic control systems with bounded practical inputs

Bounded inputs are typically required to be considered in practical designs for nonholonomic control systems. In this paper, we propose stabilizing control schemes for nonholonomic wheeled mobile robots (NWMR) with bounded practical inputs. This scheme is given not based on chained forms, but based on a kind of new systems which are converted from NWMR by using state transformations without any input transformation. The advantage for doing this is involved in two points: first, the stabilizers proposed are semiglobal while the previous stabilizers are local. Second, for the methods exploited here, the original system inputs (in the sense of kinematics) can be guaranteed to stay within the desired upper bounds. Finally, the simulations, the brief of main contributions of the paper, and the potential future research problems are given.