This paper addresses a problem of tracking control for a two-wheeled mobile robot with slipping and skidding. A nonlinear mathematical model based on kinematics and dynamics is developed, which includes an adhesion model between the pneumatic tires and the ground, and is more practical than nonholonomic constrained model. Then, a nonlinear controller is designed based on back-stepping with Dynamic Surface Control (DSC) approach. Simulation and experimental results illustrate the effectiveness of the proposed control law.

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