Simple tracking controller for unicycle-type mobile robots with velocity and torque constraints

This paper studies the tracking control of unicycle-type mobile robots with bounded velocities and torques. A simple tracking controller, incorporating amplitude and rate-bounded feedback signals generated from two first-order filters, is proposed. A set of four linear inequality constraints on the control design parameters is derived from the bound estimations of velocities and torques to guarantee the compliance with velocity and torque constraints. The introduction of filters facilitates the bound estimations of velocities and torques as well as the computation of control design parameters. Simulation and experimental results are provided to verify the effectiveness of the proposed tracking controller.