Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method

Table 1

The comparison of the accumulated absolute error ratios while tracking a circular trajectory.

	-direction	-direction	Steering angle
Without slip feed-forward	18.538%	10.159%	10.911%
With slip feed-forward	24.428%	1.19%	4.951%