Mobile robots play a crucial role in cleaning, maintenance, and surveillance applications. This article advocates for the use of a novel robust output feedback based path following controller, for a class of self-reconfigurable mobile robot under actuator saturation. The reconfigurability property of such platforms is captured via an uncertain Euler–Lagrange dynamics. The proposed control framework estimates the unmeasurable states and the uncertain dynamics terms through two extended high gain observers, whereas the actuator limits are honored via a fast dynamic compensator. The closed-loop stability is analyzed via contraction theory, which, compared to the conventional Lyapunov based approaches, avoids the requirement of arbitrarily large controller and observer gains. Such a feature is of particular interest in view of actuator saturation. The experimental results with PANTHERA self-reconfigurable robot validate the effectiveness of the proposed technique over the state of the art.

中文翻译：

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基于输出反馈的路面清扫自重构机器人鲁棒饱和控制器设计

移动机器人在清洁、维护和监控应用中发挥着至关重要的作用。本文提倡使用一种新颖的基于鲁棒输出反馈的路径跟随控制器，用于一类在致动器饱和下的自重构移动机器人。这种平台的可重构性是通过不确定的欧拉-拉格朗日动力学来捕获的。所提出的控制框架通过两个扩展的高增益观测器估计不可测量的状态和不确定的动态项，而执行器限制则通过快速动态补偿器来实现。通过收缩理论分析闭环稳定性，与传统的基于李雅普诺夫的方法相比，它避免了对任意大的控制器和观测器增益的要求。鉴于致动器饱和，这种特征特别令人感兴趣。