Adaptive control of unicycle-type mobile robots with longitudinal slippage

Abstract

This paper studies trajectory tracking control of unicycle-type mobile robots with longitudinal slippage in kinematic level. By introducing a parameter, called "Slipping ratio", into the steering system, an adaptive controller different from [8] is designed. All the tracking errors are guaranteed to converge to zero asymptotically using the proposed controller. At the meantime, with some limitations to the reference trajectory, the slipping ratio estimations are also ensured to converge to their true values. Numerical simulations show the stability and effectiveness of the proposed controller.