Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: curvilinear coordinates approach (Part I)*

In work reported here, it is proposed a method to reduce the effects of slipping and skidding in WMRs not exactly satisfying kinematic constraints. It is studied the case for WMRs whose kinematic constraints are violated owing to deformability or flexibility. To this end, it is considered the static-state linearization whose robustness will be based on singular perturbation methods and an auxiliary control law that is modeled on a suitable transformation for curvilinear coordinates. In results will be seen that the tracking error converges to small ball of the origin whose radius can be adjusted by a known function that depends on the slipping and skidding variations.