Alternative identification of wheeled mobile robots with skidding and slipping

This paper proposes the new identification of dynamics for Type(2,0) wheeled mobile robots(WMRs) in the presence of wheel skidding and slipping. This paper presents dynamics models that explicitly relate perturbations to the vehicle skidding and slipping. They cause parameter uncertainties, input-additive, matched and unmatched perturbations of WMRs. To solve the problem, this paper determines the new identification of dynamics for WMRs with skidding and slipping. The proposed dynamics lay a base for the deployments of various control design techniques to overcome the addressed perturbations. Finally, this paper verifies the tracking performance of the proposed feedback linearization controller for simulation results.