Currently, most assumptions in nonholonomic mobile robot controllers indicate that the robot velocity can become significantly large and that the robot actuators are able to generate the necessary level of torque input. Based on the sliding mode control theory, this paper develops a new framework to handle the control problem of a wheeled robot dynamics model with constrained velocity and torque. Through rigorous theoretical analysis and extensive simulations, we demonstrate that the proposed controller guarantees asymptotic convergence of tracking or stabilization errors and boundedness of closed-loop signals. The advantages of the developed controller include the ability to simultaneously achieve tracking and stabilization control of nonholonomic mobile robots and the ability to ensure that the prescribed velocity and torque constraints are not breached by simply tuning the design parameters a priori, even in the presence of uncertain disturbances.

In this paper, a novel adaptive control scheme is proposed for the path-following problem of a nonholonomic mobile robot with uncertain dynamics based on barrier functions. To optimize communication resources, we integrate an event-triggered mechanism that avoids Zeno behavior and ensures that the tracking error of the closed-loop system converges to a small neighborhood around zero within a fixed time, while consistently satisfying predefined transient performance requirements. Extensive simulation studies demonstrate the effectiveness of the proposed approach and validate the theoretical results.