Practical stabilization of nonholonomic wheeled mobile robot systems with real bounded inputs

Real bounded inputs of nonholonomic wheeled mobile robot systems are typically needed in practical designs of control systems. Some state transformations are exploited to convert these systems to new systems while the control inputs of the two systems are the same. Then using the intrinsic structure of the new systems and variable structure control, a novel discontinuous multiple step stabilizing laws are presented in this paper, which can make the original control inputs of the system be bounded by an a priori specified upper bound in the whole control procedure while the states of systems converge to a small neighborhood of zero point as desired. Finally, the simulation of nonholonomic wheeled mobile robots is given to show the effectiveness of proposed methods.