Adaptive Control for a Mobile Robot Under Slip Conditions Using an LMI-Based Approach

This paper presents a control law for the trajectory tracking of mobile robots under slip conditions and subject to both system constraints and varying dynamics. First, a control law is obtained based on a Lyapunov function to guarantee closed-loop asymptotic stability, resulting in a set of feedback gains, one for each extreme model realization. On-line computation is devoted to determine an adaptive feedback control law for the current realization of the state as a convex combination of the gains previously obtained. Simulations comparing the proposed control law with other strategies under slip conditions are provided. They show the satisfactory behavior of the proposed control strategy.