Control of unicycle-type robots in the presence of sliding effects with only absolute longitudinal and yaw velocities measurements

In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects measurements. The slipping and skidding effects are known to be very noisy so we want to elaborate a control law which solves the velocity tracking problem by using only absolute longitudinal and yaw velocities. First, we choose to simplify the problem by taking into account only the more important component of the slip with respect to the trajectory. In a turn, we modelize the skidding effects, however we introduce the longitudinal slip in a straight line. Then, we got our inspiration from the approach used in these particular cases to elaborate a global control law which makes the lateral, longitudinal and yaw velocities tend to zero. This control law does not need sliding effects measurements but depends on the slip and cornering stiffness coefficients.