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

Table 3

The comparison of accumulated absolute error ratios with different control methods for tracking a cosine trajectory.

	-direction	-direction	Steering angle
Open-loop, without slip compensation	13.082%	46.608%	62.828%
Open-loop, with slip compensation	14.427%	60.566%	55.195%
Traditional SMC with slip compensation	10.59%	22.425%	20.799%
Adaptive SMC with slip compensation	7.457%	19.612%	17.558%