In this paper, trajectory tracking of omnidirectional mobile robots with full-state constraints was considered. The control scheme combined the barrier Lyapunov function with adaptive technique to achieve the great tracking performance subject to state constraints. An adaptive estimation law was proposed for disturbances of dynamics in practical systems to improve the robustness of control systems. Meanwhile, the stability of the closed-loop system was analyzed. And simulation results demonstrated the efficiency and availability of the proposed control strategy. In future work, input saturations of robots should be considered to satisfy the real system, and more complicated situations, such as time delay and time-varying state constraints, can be researched to achieve superior tracking performance.
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