Abstract:The wheeled mobile robot is a typical uncertain robot system, which has typical nonholonomic characteristics and underdrive characteristics with different input and output dimensions. In the unknown environment, the slip and sideslip of the wheeled mobile robot are inevitable. Therefore, the research on trajectory tracking control of the wheeled mobile robot under sliding is of great significance. Aiming at the tracking problem of the wheeled mobile robot system with side slip disturbance, a Lyapunov design me… Show more
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