{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T07:25:18Z","timestamp":1758266718299},"reference-count":20,"publisher":"University of Zielona G\u00f3ra, Poland","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,12,1]]},"abstract":"<jats:title>Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system<\/jats:title><jats:p>The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.<\/jats:p>","DOI":"10.2478\/v10006-009-0043-1","type":"journal-article","created":{"date-parts":[[2010,1,8]],"date-time":"2010-01-08T18:19:33Z","timestamp":1262974773000},"page":"547-559","source":"Crossref","is-referenced-by-count":19,"title":["Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system"],"prefix":"10.61822","volume":"19","author":[{"given":"Maciej","family":"Micha\u0142ek","sequence":"first","affiliation":[]},{"given":"Piotr","family":"Dutkiewicz","sequence":"additional","affiliation":[]},{"given":"Marcin","family":"Kie\u0142czewski","sequence":"additional","affiliation":[]},{"given":"Dariusz","family":"Pazderski","sequence":"additional","affiliation":[]}],"member":"37438","reference":[{"key":"1","doi-asserted-by":"crossref","DOI":"10.1002\/0471221279","volume-title":"Estimation with Applications to Tracking and Navigation","author":"Y. 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