The saturated tracking control problem is addressed for nonholonomic mobile robots with dynamic feedback in this paper. A finite-time control technique and the virtual-controller-tracked method are adopted in this paper. The main contribution and innovation can be summarized as follows. First, the smooth kinematic tracking controller of Jiang et al. is taken as a virtual control law for the dynamic feedback model. Second, a continuous and bounded dynamic feedback controller is proposed to make the generalized velocity converge to the kinematic (virtual) controller in a finite time for any initial values of tracking errors in the specified attraction region. Third, all of the states of the tracking error system are proved to go to zero as time goes to infinity. In the mean time, the control inputs are bounded by the prespecified bounds at any time. Finally, the simulation results show the effectiveness of the proposed control design approach.

In this paper, the finite-time tracking control problem is discussed for extended nonholonomic chained-form systems with parametric uncertainty, unmodeled nonlinear dynamics and external uncertain time-varying disturbances. Two decoupled subsystems are considered, for which an anti-interference controller is proposed by combining finite-time stability control theory and chattering-free sliding-mode design strategy in the presence of the uncertainty, nonlinearity and perturbation. Moreover, for the corresponding closed-loop systems under the given control law, rigorous finite-time stability analysis is presented at the origin equilibrium point. Finally, the main conclusions are applied to the trajectory tracking control of dynamic nonholonomic mobile robots with visual servoing feedback, and the simulation results show the effectiveness of our control design approach.

The problem of trajectory tracking control for underactuated surface vessels with time‐delays, model uncertainty and unknown control directions has been considered in this paper. Firstly, an integration time delayed sliding mode controller is proposed, which decomposes the underactuated non‐linear system into a cascading system consisting of a kinematics subsystem and a dynamics subsystem. Secondly, an adaptive backstepping control method for the heading angle system is proposed, which can drive the heading angle error into a preset interval. Then the Bouc‐wen model is used to describe the hysteresis of the system, Nussbaum gain function is adopted to deal with unknown control directions, and the adaptive controller is designed by combining error transformation with Lyapunov function. Furthermore, a suitable Lyapunov‐Krasovsky function is selected to analyse and prove the global stability of the closed‐loop system. Finally, some numerical simulations show the effectiveness of the presented control methods.

In this paper, the global practical stabilization problem is addressed for a class of non-holonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switch controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly to control the original system without any state or input transformation, which is effective in avoiding singularity. By Lyapunov method, it is rigorously proved that under the proposed switch control law, the states of closed loop system can be stabilized to an arbitrarily small neighbourhood of the zero equilibrium point. Finally, the simulation results show the effectiveness of the proposed control design approach.