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Nested saturation control of Mecanum-wheeled mobile robot under stochastic disturbances and input constraints

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  • Yin, Ruijie
  • Wu, Zhaojing
  • Feng, Likang

Abstract

This paper focuses on the trajectory tracking control problem of the Mecanum-wheeled mobile robot subject to both stochastic disturbances and input constraints. A stability framework is proposed to rigorously analyze the vector-form nested saturation controller designed for this multivariable system. This framework overcomes the limitations of traditional scalar-oriented methods by constructing geometric saturation neighborhoods and integrating them with small-gain analysis. It is rigorously proven that the closed-loop system is noise-to-state stable in probability, with the tracking error converging to an adjustable neighborhood of the origin. Simulation results validate the efficacy in simultaneously managing stochastic disturbances and input constraints, confirming its practical viability.

Suggested Citation

  • Yin, Ruijie & Wu, Zhaojing & Feng, Likang, 2026. "Nested saturation control of Mecanum-wheeled mobile robot under stochastic disturbances and input constraints," Applied Mathematics and Computation, Elsevier, vol. 522(C).
    • Handle: RePEc:eee:apmaco:v:522:y:2026:i:c:s0096300326000615
    DOI: 10.1016/j.amc.2026.130009
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