Tracking control for differential-drive mobile robots with diamond-shaped input constraints

This brief is concerned with the tracking control of differential-drive mobile robots with diamond-shaped input constraints. The strategy of designing time-varying feedback parameters for the tracking controller is used to cope with the challenge presented by input constraints. Sufficient conditions on the feedback parameters are proposed to guarantee the asymptotic stability of the tracking error system in the absence of input constraints. The feedback parameters are designed by applying a geometric analysis approach, so that the sufficient conditions on feedback parameters and the input constraints are satisfied. Experimental results are included to validate the effectiveness of the proposed controller.