Trajectory Control for Wheeled Mobile Robots Robot with Longitudinal Slippage

This article addresses the trajectory tracking control problem of a mobile robot with unknown longitudinal slip by introducing the slip ratio and an adaptive method for stability. We establish a kinematic model of Wheeled Mobile Robots (WMR) and design a new Lyapunov equation to extend the attractive domain of steering angle error. Cross terms are introduced to eliminate the need for separate consideration of the traditional Lyapunov equation. Unknown slip is represented as an unknown parameter in the kinematic model and estimated using an adaptive law. The asymptotic stability of the tracking error system is proved. Our proposed control law demonstrates improved stability and effectiveness compared to two reference trajectories, as confirmed by simulations.