Trajectory tracking control of wheeled mobile robots subject to position and velocity constraints

The trajectory tracking problem of wheeled mobile robots subject to simultaneous position and velocity constraints is addressed in this paper. A unified constrained kinematic control scheme is proposed by integrating barrier Lyapunov functions (BLFs) with the auxiliary system approach. Firstly, unconstrained velocity signals are designed based on a BLF to ensure that the position constraints are satisfied. Then, two new auxiliary systems are designed to handle the velocity constraints, based on which, the uniform ultimate boundedness (UUB) of all closed-loop signals is analyzed rigorously. Finally, a numerical example is given to demonstrate faster convergence and improved tracking performance of the method proposed in this paper.