Low-Complexity Prescribed Performance Control of Wheeled Mobile Robot with Skidding and Slipping

The trajectory tracking problem of mobile robot with slippage is very complicated. On the one hand, compensating for slippage under non-holonomic constraints is difficult; on the other hand, disturbances cased by slippage also needs to be suppressed in dynamics level. In this paper, a low complexity control scheme is proposed. By linearizing the model, non-holonomic constraints and complex virtual control law design are avoided. By using prescribed performance function (PPF), dynamics model information or its estimated structure is not required. The simulation results show the superiority of this method.