Abstract

This paper proposes a robust dynamic surface control (DSC) tracking method for wheeled mobile robots (WMRs) with skidding and slipping. First, a simple WMRs model is derived. This model has the simple structure to handle not only kinematics but also dynamics. Then, a tracking controller is proposed by using the DSC method. The proposed method eliminates the complexity problem in the traditional backstepping design. In addition, we use the idea of nonlinear damping in order to cancel out the disturbances. Finally, numerical simulations are included to illustrate the validity of the proposed.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.