Robust control for a wheeled mobile robot to track a predefined trajectory in the presence of unknown wheel slips

Kiem Nguyentien, Linh Le, Tuan Do, Tinh Nguyen, Minhtuan Pham
Author affiliations


  • Kiem Nguyentien Hanoi University of Industry, Hanoi, Vietnam
  • Linh Le University of Information and Communication Technology, Thai Nguyen University, Vietnam
  • Tuan Do Institute of Information Technology, VAST, Hanoi, Vietnam
  • Tinh Nguyen Institute of Information Technology, VAST, Hanoi, Vietnam
  • Minhtuan Pham Space Technology Institute, VAST, Hanoi, Vietnam



asymptotic convergence to zero, bounded external disturbances, desired tracking performance, model uncertainties, unknown wheel slips


In this paper, a robust controller for a nonholonomic wheeled mobile robot (WMR) is proposed for tracking a predefined trajectory in the presence of unknown wheel slips, bounded external disturbances, and model uncertainties. The whole control system consists of two closed loops. Specifically, the outer one is employed to control the kinematics, and the inner one is used to control the dynamics. The output of kinematic controller is adopted as the input of the inner (dynamic) closed loop. Furthermore, two robust techniques were utilized to assure the robustness. In particular, one is used in the kinematic controller to compensate the harmful effects of the unknown wheel slips, and the other is used in the dynamic controller to overcome the model uncertainties and bounded external disturbances. Thanks to this proposed controller, a desired tracking performance in which tracking errors converge asymptotically to zero is obtained. According to Lyapunov theory and LaSalle extension, the desired tracking performance is guaranteed to be achieved. The results of computer simulation have shown the validity and efficiency of the proposed controller.


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Research Article