Sampled-Data Circular Path Following Control of Four Wheeled Mobile Robots With Steering Angle Saturation

Sampled-data circular path following control of four wheeled mobile robots with steering angle saturation is considered. The line-of-sight guidance algorithm is used to drive a tracking error dynamics and sampled-data path following control is formulated as sampled-data stabilization of a tracking error dynamics. Both single-rate and multi-rate sampled-data steering angle controllers are designed on the basis of the Euler model of a tracking error dynamics. The closed-loop tracking error dynamics given by designed controllers is represented by a cascade system with the disturbance input induced by steering angle saturation. Then we show that designed controllers achieve sampled-data circular path following control in the semiglobally practically input-to-state stable sense. Simulation and experimental results are also given to show the effectiveness of designed controllers.