Trajectory Tracking for Nonholonomic Vehicles with Velocity Constraints∗∗The work described in this paper was supported in part by a grant from City University of Hong Kong (Project No. 7200330) and by the Research Grants Council of the Hong Kong Special Administrative Region of China under Project CityU/138913. Corresponding author: Lu Liu, E-mail: luliu45@cityu.edu.hk, Tel: 852-34425426.

This paper proposes a novel controller for trajectory tracking of nonholonomic vehicles of unicycle type. The vehicle is subject to velocity constraints consisting of angular velocity saturation and bounded linear velocity with a positive-minimum value. It is shown that the trajectory tracking problem can be solved with the proposed velocity controller. Meanwhile, the velocity constraints can be satisfied by tuning of the design parameters. Finally, simulation results of several examples illustrate the effectiveness of the proposed controller.