Global exponential point stabilization of a tracked mobile robot with slipping parameter

The point stabilization problem of a tracked mobile robot with slipping efficiency is discussed in this paper. The kinematic model of the tracked vehicle violating pure nonholonomic constraint is created, in which the slipping is modeled as time-varying parameter related to the velocity of robot and ground conditions. By transforming the original system to the special chained form of nonholonomic system, the integrator backstepping method combined with a state-scaling technique is applied to construct the controller to regulate the robot at the kinematic level. The global asymptotical stability with exponential convergence is achieved by Lyapunov analysis. Simulation results have shown the effectiveness and robustness of the proposed method.