抄録
This paper addresses a problem of tracking control for a two-wheeled mobile robot with sideslip. 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 via back-stepping approach. Simulation results illustrate the effectiveness of the proposed control law.
