Wheeled robot slip compensation for trajectory tracking control problem with time-varying reference input

This paper presents the stability analysis of the closed-loop error dynamics obtained using an adaptive kinematic controller for the trajectory tracking control problem of a wheeled mobile robot with longitudinal slip. It is shown that the adaptive kinematic controller is able to compensate in real time for an unknown constant slip whenever the reference trajectory is generated by a slow time-varying reference input. This extends previous results found in the literature where the reference input is assumed to be constant. Moreover, it is also shown that the estimated slip parameters converges to their true values. Numerical results show the performance of the adaptive kinematic controller.