Disturbance Attenuation Tracking Control for Wheeled Mobile Robots With Skidding and Slipping

In this paper, a robust tracking control scheme is proposed for wheeled mobile robots with skidding, slipping, and input disturbance. Considering the existing skidding and slipping, a desired disturbance-observer-based virtual velocity control law is first designed. Then, the robust tracking control scheme is developed by considering the prescribed tracking performance requirement and using the disturbance observer. In the tracking control scheme design, the prescribed performance function method is employed to guarantee the desired tracking performance. To handle the skidding, slipping, and input disturbance, the disturbance observer is developed in the control scheme design. Experiment results demonstrate the effectiveness of the proposed tracking control scheme for wheeled mobile robots with skidding, slipping, and input disturbance.