Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach

We propose in this paper a singular perturbation formulation for mechanical systems not exactly satisfying velocity constraints. We particularize to ‘wheeled mobile robots’ which do not satisfy ideal pure rolling and nonslipping constraints. We study the robustness of static-state linearizing feedback laws which have been obtained to solve a point tracking problem in the ideal case when constraints were satisfied.