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Adaptive tracking control for WMRs with skidding and slipping: a double closed-loop strategy

This paper develops a double closed-loop control strategy aiming at the trajectory tracking control of wheeled mobile robots (WMRs) under the skidding and slipping. Firstly, a skidding kinematic model and a slipping dynamic model are proposed to describe the WMR under the skidding and slipping, respectively. Then, an anti-skidding controller based on Lyapunov direct control and an anti-slipping controller based on terminal sliding mode control (TSMC) are separately devoted. All of them consist an double closed-loop control strategy to effectively solve the skidding and the slipping at the same time. In addition, the radial basis function neural network (RBFNN) is employed to estimate the disturbance force caused by slipping, thereby satisfactory adaptive and robust capabilities can be provided for the WMR. The simulation results in last demonstrate the effectiveness of the proposed control strategy.