A Configuration Control with Slip Angle Compensation of a Mobile Robot

Augie Widyotriatmo and Keum-Shik Hong


Mobile robot, slip angle, configuration control


In this paper, a configuration (position and orientation) control problem of a mobile robot vehicle in the presence of slip angle is investigated. The kinematic equations of the mobile robot considering the slip angle are derived. Configuration control with slip angle compensation is proposed and the convergence of the configuration of the mobile robot to the goal configuration is guaranteed using the Lyapunov method. The performances of the control law with and with no slip angle compensation are compared through numerical simulations.

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