Robust dynamic surface tracking control for uncertain wheeled mobile robot with skidding and slipping

摘要

This paper proposes a robust dynamic surface control (DSC) tracking method for wheeled mobile robots (WMRs) with skidding and slipping. First, a simple WMRs model is derived. This model has the simple structure to handle not only kinematics but also dynamics. Then, a tracking controller is proposed by using the DSC method. The proposed method eliminates the complexity problem in the traditional backstepping design. In addition, we use the idea of nonlinear damping in order to cancel out the disturbances. Finally, numerical simulations are included to illustrate the validity of the proposed.