Tracking Control for Differential Mobile Robots With Skidding and Slipping effects

Resumen: The development of a tracking control for a differential wheeled mobile robot under the effect of skidding and slipping is presented in this paper. The kinematics models of a differential robot with and without disturbances are used to solve the tracking problem. The control scheme proposed is based on backstepping, feedback passivity and sliding modes techniques. Simulations results are showed to prove the effectiveness of the proposed method.

¿Cómo citar?

Diego García-Olivares, Martin Velasco-Villa & Rafael Castro-Linares. Tracking Control for Differential Mobile Robots With Skidding and Slipping effects. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Skidding, slipping, backstepping, feedback passivity, sliding modes

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