Robust Torque Control of Wheeled Mobile Robots with Kinematic Disturbances

In this paper, robust control of the wheeled mobile robots in presence of external disturbances and parameter uncertainties of the dynamical system violating the nonholonomic kinematic constraint of non-slipping is presented. Despite to the previous works focused on the kinematic control design, a robust torque control developed as a unified approach for both of the tracking and regulation problems based on the tunable dynamic oscillator. The proposed controller guarantees that the tracking error converges exponentially to an arbitrarily small neighborhood of the origin. To demonstrate the performance of the proposed controller, simulation results for typical differential drive and skid steer mobile robots presented.