Robust path following of car-like WMR in the presence of skidding effects

Abstract

In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.