A universal saturation controller design for mobile robots

K. D. Do, Z. P. Jiang, J. Pan

Research output: Contribution to journalConference article


We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.

Original languageEnglish (US)
Pages (from-to)2044-2049
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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