LPV Controller Design for Trajectory Tracking of Non-holonomic Wheeled Mobile Robots in the Presence of Slip

Wheeled Mobile Robots (WMR) are often used to move and work in outdoor environments, often unstructured. The robots' operation in these environments was disrupted due to the ground's unevenness, and slippage occurs. Slipping compared to moving wheel robots at normal levels causes large accumulated errors in the robot's position. Therefore, diagnosing the amount of wheel slip is necessary to improve the control of robot movement. This paper presents an LPV controller with an LPV observer that allows the robot to track the path if there is uncertainty due to the kinematic model's linearization and the occurrence of an unknown longitudinal slip. To evaluate the performance of the proposed method, the controller and observer are designed using the linear matrix inequality (LMI) approach and are simulated in MATLAB software, and superior tracking results are presented.