Adaptive tracking control of wheeled mobile robots in presence of longitudinal slipping

Abstract

Based on wheeled mobile robots with unknown longitudinal slip parameters,an adaptive control strategy for a tracked mobile robot is presented,in which the longitudinal slip of the left and right wheels are described by two unknown parameters.It is assumed that the kinematic model of the tracked robot is approximated by the one of a differential wheeled mobile robot.An adaptive nonlinear feedback control law that compensates for the longitudinal slip is proposed to achieve a given trajectory tracking objective.The asymptotic stability of the close-loop system is ensured by using an appropriate Lyapunov function.The controller gains are determined online by using poles placement method.Numerical results show the effectiveness of the proposed approach.