Trajectory tracking control for wheeled mobile robots subject to longitudinal slippage

Abstract The trajectory tracking control for wheeled mobile robots (WMRs) with unknown longitudinal slipping is studied in this paper. Firstly, the slipping ratios are introduced to describe the slippage and the kinematic model of WMRs is established, which takes the displacement between the center of mass of the WMR and the midpoint of the driving wheels axis into consideration. Then an adaptive control law is proposed based on a new Lyapunov function, and the asymptotic stability of the tracking error system is derived directly by the Barbalat's lemma. Finally, some numerical examples are given to show the advantages and effectiveness of the proposed method.