Teji, Mulugeta Debebe (Addis Ababa Science and Technology Univ., Memorial University), Zou, Ting (Memorial University), Zeleke, Dinku Seyoum (Addis Ababa Science and Technology University)

Adaptive Longitudinal Slip Compensation for Wheeled Mobile Robots Using Velocity Ratio

Scheduled for presentation during the Regular Session "Smart Infrastructure & Collaborative Systems" (FrBT4), Friday, July 18, 2025, 14:00−14:20, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

The wheel slip can lead to tremendous challenges in mobile robot performance, including difficulties in tracking a desired motion trajectory, a long time to transverse to a distance due to losing velocity, and inefficient energy utilization. This paper proposes an adaptive longitudinal slip compensation framework based on the robot's velocity ratio information. The basic idea underlying this framework is that adaptive update law algorithms keep tracking to estimate the unknown velocity ratios to identify the presence of wheel slip. Consequently, the estimated velocity ratios can lead to an estimation of the longitudinal slip, and then adaptive control starts acting to compensate for the wheel slip. Knowledge of the robot's kinematic model allows for deriving the velocity ratios used to determine the wheel slip. Based on the Lyapunov stability analysis, the stability of the designed closed-loop system is investigated, and the convergence of the state vector trajectories is proven using the Lyapunov-like Barbalats lemma. Finally, the analytical results are validated with simulations to demonstrate the effectiveness of the proposed scheme for trajectory tracking performance in the presence of wheel slip.