Trajectory tracking control for wheeled mobile robot subject to slipping and skidding

The trajectory tracking control for wheeled mobile robots (WMRs) subject to longitudinal slipping and lateral skidding is studied in this paper. Both the slipping and skidding are considered explicitly at the kinematic level. A new Radial Basis Function Neural Network (RBFNN) based disturbance observer is proposed to estimate the slipping and skidding, and the slipping and skidding estimation errors can be made arbitrarily small. By integrating the disturbance observer, a kinematic controller is designed based on a new Lyapunov function. Then the dynamic controller is designed and the uniform ultimate boundedness of the overall closed-loop system is proved. Finally, simulations are given to verify the effectiveness and advantages of the method proposed in this paper.