Fractional Order Tracking Control for Diferential Mobile Robots with Skidding and Slipping Effects

Abstract

The development of a fractional order tracking control for a differential wheeled mobile robot under the effect of skidding and slipping effects is presented in this paper. The kinematic model of a differential mobile robot with disturbances are used to solve the tracking problem. The control scheme proposed is based on backstepping, feedback passivity and fractional sliding modes techniques. Numeric simulations are shown to prove the effectiveness of the proposed method and a comparison with entire order scheme is also provided.