Nonlinear Trajectory-Tracking Control of a Car-Like Mobile Robot in the Presence of Input Saturations and a Pulse Disturbance

This study aims to attain trajectory-tracking of a car-like mobile robot (CLMR). First, motion planning is developed based on a virtual CLMR with the same kinematics to an actual CLMR. Then, the position error model between the virtual and actual CLMRs is established for the purpose of a controller design. The proposed nonlinear trajectory tracking control (NTTC) scheme is constructed such that the position error of the CLMR (i.e., 2D pose and...