Modeling and feedback linearization control of a nonholonomic wheeled mobile robot with longitudinal, lateral slips

This paper presents a systematic method to build the kinematic model and dynamic model of a nonholonomic wheeled mobile robot (WMR) with longitudinal and 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 longitudinal, and lateral slip exist. The asymptotical stability of the system is verified by solving second-order differential linear equations to find solutions for history time. Matlab-Simulink simulation results show the correctness and performances of the control law.