Trajectory Tracking Control Design for Nonholonomic Systems with Full-state Constraints

A systematic control design strategy of the trajectory tracking controller is proposed for a class of chained nonholonomic systems with full-state constraints. The barrier Lyapunov function (BLF) with finite-time convergence, the technique of relay switching and the integral backstepping are applied to the development of the controller. The designed control law guarantees that the reference trajectory can be tracked by the system state asymptotically and the state constraints are not violated. The physical models of two mobile robots and simulation results are provided to demonstrate the effectiveness of the proposed control scheme.