Velocity Constrain Control of Ground Mobile Robots

Safety issues and actuator protection are critical concerns of robotic system design, such that the controller should ensure the operation strictly remain within a safety boundary even under unexpected disturbance or dramatic parameter calculation error. In this study, a bounded-output controller is addressed which can achieve the above pursuance and solve trajectory tracking problem of mobile robot simultaneously. In previous research, the output boundary is tuned by control parameters which are also responsible for trajectory tracking performance, so there will be a dilemma when balancing between tracking performance and velocity regulation pursuance. Our study avoids such problem by decoupling the controller output boundedness with control. Additionally, the bounded output of proposed controller can be guaranteed even if the reference signals are not subject to corresponding constraints, therefore, the reference signal will no longer assumed to be ideal in this study. Accordingly, the stability of tracking and velocity regulation are analyzed, simulations are conducted to demonstrate the performance of proposed controller, and its advantage over traditional methods.