Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations

Javier Moreno-Valenzuel, Luis Gonzalo Montoya-Villegas*, Ricardo Pérez-Alcocer, Raúl Rascón

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


In this paper, a saturated proportional-integral (PI)-type controller for unicycle-type wheeled mobile robots (UWMRs) is designed. The advantages of the novel controller are the robustness to external disturbances and the ability to keep the control into admissible limits. The desired trajectory should satisfy the so-called virtual reference system and be bounded for all time. Lyapunov’s theory and Barbalat’s lemma are used to prove the convergence of the tracking errors. An analysis of when the system is affected by disturbances is also given. To assess the performance of the proposed controller, an experimental real-time comparison of five schemes, including the proposed one, is presented. All the tested controllers guarantee the motion control goal and can produce saturated control action. A circular reference trajectory for the tracking task is used to perform the comparison. The proposed PI-type controller presents the best trajectory tracking performance, while the generated control action remains bounded.

Original languageEnglish
Pages (from-to)184-197
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number1
StatePublished - Jan 2022
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2022, ICROS, KIEE and Springer.


  • Mobile robot
  • proportional-integral-type control
  • real-time experiments
  • saturated control
  • trajectory tracking


Dive into the research topics of 'Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations'. Together they form a unique fingerprint.

Cite this