{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,7]],"date-time":"2026-06-07T13:30:35Z","timestamp":1780839035337,"version":"3.54.1"},"reference-count":36,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2024,7,17]],"date-time":"2024-07-17T00:00:00Z","timestamp":1721174400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Hellenic Foundation for Research and Innovation (H.F.R.I.)","award":["HFRI-PD19-370"],"award-info":[{"award-number":["HFRI-PD19-370"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we address the trajectory-\/target-tracking and obstacle-avoidance problem for nonholonomic mobile robots subjected to diamond-shaped velocity constraints and predefined output performance specifications. The proposed scheme leverages the adaptive performance control to dynamically adjust the user-defined output performance specifications, ensuring compliance with input and safety constraints. A key feature of this approach is the integration of multiple constraints into a single adaptive performance function, governed by a simple adaptive law. Additionally, we introduce a robust velocity estimator with a priori-determined performance attributes to reconstruct the unmeasured trajectory\/target velocity. Finally, we validate the effectiveness and robustness of the proposed control scheme, through extensive simulations and a real-world experiment.<\/jats:p>","DOI":"10.3390\/s24144636","type":"journal-article","created":{"date-parts":[[2024,7,17]],"date-time":"2024-07-17T15:15:19Z","timestamp":1721229319000},"page":"4636","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6064-7370","authenticated-orcid":false,"given":"Panagiotis S.","family":"Trakas","sequence":"first","affiliation":[{"name":"Division of Signals and Control Systems, Department of Electrical and Computer Engineering, University of Patras, Rio, 26504 Patras, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-9743-4332","authenticated-orcid":false,"given":"Spyridon I.","family":"Anogiatis","sequence":"additional","affiliation":[{"name":"Division of Signals and Control Systems, Department of Electrical and Computer Engineering, University of Patras, Rio, 26504 Patras, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9850-2540","authenticated-orcid":false,"given":"Charalampos P.","family":"Bechlioulis","sequence":"additional","affiliation":[{"name":"Division of Signals and Control Systems, Department of Electrical and Computer Engineering, University of Patras, Rio, 26504 Patras, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4102","DOI":"10.1109\/TITS.2023.3326864","article-title":"A Target Tracking Guidance for Unmanned Surface Vehicles in the Presence of Obstacles","volume":"25","author":"Du","year":"2024","journal-title":"IEEE Trans. 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