A major problem in the design of control laws dedicated to mobile robots appears when the
classical hypothesis of rolling without sliding wheels is violated. It is generally the case for off-
road vehicles as adherence conditions are often not satisfactory and sliding can then cease
to be negligible. Consequently theoretical performance is impaired and the vehicle is no
longer accurately controlled. It is particularly harmful with respect to path tracking tasks,
where a loss of accuracy in rough terrain can generate a hazardous situation. Previous work …