Modeling and analysis in trajectory tracking control for wheeled mobile robots with wheel skidding and slipping: Disturbance rejection perspective

Gao, Xiaoshan; Yan, Liang; Gerada, Chris

Abstract

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

Citation

Gao, X., Yan, L., & Gerada, C. (2021). Modeling and analysis in trajectory tracking control for wheeled mobile robots with wheel skidding and slipping: Disturbance rejection perspective. Actuators, 10(9), Article 222. https://doi.org/10.3390/act10090222

• Journal Article Type: Article
• Acceptance Date: Aug 24, 2021
• Online Publication Date: Sep 4, 2021
• Publication Date: Sep 1, 2021
• Deposit Date: Jan 15, 2025
• Publicly Available Date: Jan 17, 2025
• Journal: Actuators
• Electronic ISSN: 2076-0825
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• Volume: 10
• Issue: 9
• Article Number: 222
• DOI: https://doi.org/10.3390/act10090222
• Public URL: https://nottingham-repository.worktribe.com/output/42839299
• Publisher URL: https://www.mdpi.com/2076-0825/10/9/222