An adaptive control for uncertain mobile robot considering skidding and slipping effects

In this paper a new adaptive control technique for path tracking of nonholonomic mobile robot is designed to deal with unknown skidding and slipping as well as external disturbances. The main contribution of the proposed controller consists on the estimation and attenuation of the effect of disturbances and unknown skidding and slipping simultaneously without the need of torque measurement. First, a desired velocity input is designed using Backstepping techniques. Then, an adaptive dynamic controller, which contains two adaptive laws, is proposed to guarantee good tracking performance. The system stability and the convergence of the tracking errors are rigorously proven using Lyapunov stability theory. Finally, simulation results are illustrated to show the effectiveness of the proposed controller in comparison with the classic sliding mode control.