The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that is capable of solving the trajectory tracking problem of a nonholonomic mobile robot under longitudinal and lateral slip. While the controller can effectively compensate for the longitudinal slip, the lateral slip is a more involved problem to deal with, since nonholonomic robots cannot directly produce movement in the lateral direction. To show that the proposed controller is still able to make the mobile robot follow a reference trajectory under lateral and longitudinal time-varying slip, the solutions of the robot's position and orientation error dynamics are shown to be uniformly ultimately bounded. Numerical simulations are presented to illustrate the robot's performance using the proposed adaptive control law.

翻译：在不利地面条件下高速控制轮式移动机器人的运动是一项艰巨的任务,因为机器人的车轮可能受到不同种类的滑落。 这项工作引入了适应性运动控制器,它能够解决长纵向和横向滑动下非热缩动机器人的轨迹跟踪问题。 虽然控制器可以有效弥补长纵向滑动,但横向滑动是一个更棘手的问题,因为非血压机器人无法直接在横向方向上运动。 要显示拟议的控制器仍然能够让移动机器人在横向和纵向时间变化滑动下遵循参考轨迹,则机器人位置和方向错误动态的解决方案最终被统一捆绑。 数字模拟用拟议适应控制法演示机器人的性能。