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

Table 2

The comparison of accumulated absolute error ratios from SMC tracking a cosine trajectory.

	-direction	-direction	Steering angle
Traditional SMC	2.35%	23.866%	342.25%
Adaptive SMC	2.524%	24.387%	342.07%