This paper addresses trajectory tracking for wheeled mobile robots (WMRs) with unknown longitudinal slip and unmeasurable orientation. Conventional strategies relying on ideal nonholonomic constraints require known slip or sensors, which is impractical. A novel observer-based adaptive control framework using only position feedback is proposed. A kinematic model incorporating slip is established, and a reduced-order observer estimates orientation via nonlinear techniques. An adaptive backstepping controller with Lyapunov-based adaptation compensates for slip. Implemented in Simulink, the scheme achieves effective tracking without heading or velocity sensors.

Чэнь Я. (науч. рук. Краснов А.Ю.) Motion control algorithms for wheeled mobile robots with longitudinal slipping // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2026]. URL: https://kmu.itmo.ru/digests/article/16378