A control strategy for point stabilization and trajectory tracking of wheeled mobile robots

This paper addresses the challenges encountered by wheeled mobile robots in trajectory tracking and point stabilization tasks and proposes a novel control law. In view of issues such as the nonholonomic constraints and velocity saturation of mobile robots, a control strategy adaptable to these limitations is devised. By introducing a new desired velocity vector and heading-angle error, the proposed control law not only enhances the tracking accuracy of the robot but also significantly improves the convergence rate. The effectiveness of the proposed control law is rigorously proven using the Lyapunov stability theory, and its performance is verified through MATLAB simulation experiments. The simulation results indicate that, compared with existing control methods, the new control law exhibits a remarkable improvement in both convergence rate and travel distance. This research offers a new perspective for the precise control of mobile robots and has the potential to facilitate their applications in diverse fields. Future research directions encompass applying this control strategy to practical robot systems and exploring its potential in multi-robot cooperative control.