Adaptive tracking control for wheeled mobile robots with unknown skidding

@article{Li2015AdaptiveTC,
  title={Adaptive tracking control for wheeled mobile robots with unknown skidding},
  author={Xiang Li and Zhuping Wang and Jin Zhu and Qijun Chen},
  journal={2015 IEEE Conference on Control Applications (CCA)},
  year={2015},
  pages={1674-1679}
}
This paper aims to present an adaptive control law for trajectory tracking control of wheeled mobile robots (WMR) with unknown skidding at kinematic level. A new modified kinematic model induced from perturbed nonholonomic constraints is constructed, and an adaptive controller used to estimate the skidding ratio is designed. Without limitation to the reference trajectory, the controller proposed in this paper can be implemented to achieve “Point tracking” of WMR without extra sensors to measure… CONTINUE READING
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