Trajectory control of wheeled mobile robots not satisfying ideal velocity constraints by using slipping and skidding variations: A singular perturbation approach

Abstract

Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero.