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Position tracking control via DSC approach for a two-wheeled robot with Slipping and Skidding

N. Ogawa


This paper addresses a problem of tracking control for a two-wheeled mobile robot with slipping and skidding. A nonlinear mathematical model based on kinematics and dynamics is developed, which includes a adhesion model between the pneumatic tiers and the ground, and is more practical than  non-holonomic constrained model. Then, a nonlinear controller is designed based on backstepping with Dynamic Surface Control(DSC) approach. Simulation results illustrate the effectiveness of the proposed control law.

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