This work presents trajectory control algorithms for mobile robots under state constraints and input saturation. The proposed approach integrates Barrier Lyapunov Function-based constraint enforcement with saturation compensation. Simulation results on omnidirectional and differential drive robots demonstrate stable and accurate trajectory tracking.

Лэ С. (науч. рук. Краснов А.Ю.) Trajectory control algorithms for mobile robots with state constraints and input saturation // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2026]. URL: https://kmu.itmo.ru/digests/article/16382