Abstract
AbstractThis paper presents an adaptive control strategy for a tracked mobile robot, in which the longitudinal slip of the left and right tracks are described by two unknown parameters. It is assumed that the kinematic model of the tracked robot is approximated by the one of a differential wheeled robot. An adaptive nonlinear feedback control law that compensates for the longitudinal slip is proposed to achieve a given trajectory tracking objective. Asymptotic stability of the close-loop system is ensured using an appropriate Lyapunov function. Numerical results show the benefits of the proposed approach.
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