Modelling and Controlling a Non-holonomic Wheeled Mobile Robot with Lateral Slip

Abstract

This paper presents the systematic development to model the dynamics of a non-holonomic wheeled mobile robot with lateral slip, followed by the design of a control law using the input-output feedback linearization method to drive the mobile robot to track a given trajectory while lateral slipping exists. Matlab-Simulink simulation results showed the correctness and performances of the control law.