Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat

This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and autonomous motion. To realize kinematic planning of the WMR, novel controller designed based on Lyapunov function. part can be divided into following two aspects: 1) considering nonholonomic constraints in trajectory tracking, dynamic feedback-linearization adopted by utilizing differential flatness-based integrated framework full-state controllability; 2) compensate structured uncertainties slippage disturbances related model, function with quadratic programming. Such motion even unknown subject various constraints. Moreover, sufficient condition also analyzed ensure WMR system exponential stability. effectiveness performance proposed method are verified numerical simulation.