Consensus Control for Wheeled Mobile Robots Under Input Saturation Constraint

Abstract

In this article, the consensus control problem for the nonholonomic wheeled mobile robots under the input saturation constraint is addressed. The specified-time observer is designed to estimate the root node's linear speed and angular speed by only using the configuration of the robot, and the convergence time when the observer obtains the real values can be specified in advance according to the specific task requirements. Based on the observed velocity states, the consensus controller subjects to input saturation is constructed to steer a wheeled mobile robot to keep track of the root node. Last, to verify the feasibility and effectiveness of the proposed control strategy, both the numerical simulation and physical experiment results are conducted.