Tracking control of unicycle-modeled mobile robots using a saturation feedback controller

Ti Chung Lee*, Kai-Tai Song, Ching Hung Lee, Ching Cheng Teng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

343 Scopus citations


The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law. Practical experimental results validate the simulations.

Original languageEnglish
Pages (from-to)305-318
Number of pages14
JournalIEEE Transactions on Control Systems Technology
Issue number2
StatePublished - 1 Mar 2001


  • Mobile robots
  • Motion control
  • Nonlinear systems
  • Stability
  • Time-varying systems
  • Tracking

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