On the Trajectory Tracking Control of a Wheeled Mobile Robot Based on a Dynamic Model with Slip

Abstract

In this paper, the trajectory tracking control problem of a mobile robot with four omni wheels is considered. The robot moves on a horizontal surface when the wheels slip. A dynamic model of the robot is constructed taking into account wheel slippage during braking. The movement of the wheeled robot is controlled by four independent direct current (DC) motors. Moreover, the torques developed by the engines are linear with respect to the voltage supplied to the engine and the angular velocity of the rotor. Based on the Lyapunov function method, a nonlinear control law is constructed that solves the trajectory tracking problem. Theorem on the asymptotic stability of the set of the closed-loop system equilibrium positions is proved.