“…Numerous control methods to address this tracking issue have been reported, including sliding mode control (SMC) [3,4], backstepping control [5], model predictive control [6], adaptive control [7,8], etc. In [9], a control method was proposed for a skid-steering mobile robot based on the kinematic control concept and the input-output linearization approach. Chen et al derived the error dynamics of the path using the combination of the kinematic model of the robot and designed a horizontal steering control law for the path following of the mobile robot [10].…”