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Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint

In this paper, robust adaptive control strategy is presented for a wheeled mobile robot in the presence of model perturbations that violates the nonholonomic assumption. The nonholonomic constraint of the vehicle is assumed to be violated by an unknown slippage. Consequently, a perturbed kinematic model of the system is obtained. Using backstepping, the proposed controller is constructed at the dynamical level. The robust adaptive controller is to eliminate the needs for the LIP form of the system dynamics and the exact bounds of the system dynamics. All the system states are shown to be able to track the desired trajectory. The simulation results demonstrate the effectiveness of the proposed controllers.