RLS	Recursive Least Squares method
L-M	Levenberg-Marguardt method
$x_d,y_d,{\theta }_d$	desired robot position and orientation
$x,y,\theta$	desired robot position and orientation
$v_d,{\omega }_d$	desired robot velocities (linear and angular)
$v,\omega$	real robot velocities (linear and angular)
$v_x,v_y$	forward and lateral robot velocities
$F_{r}rx,F_{r}ry$	longitudal and lateral force of right wheel
$F_{r}lx,F_{r}ly$	longitudal and lateral force of left wheel
m	mass of the robot
$I_z$	moment of inertia of the robot with respect to the axis passing through the point G
G	robot center of mass and center of rotation
${\sigma }_1,\dots ,{\sigma }_4$	parameters of the robot dynamic model
$e_x,e_y,e_{\theta }$	position and orientation tracking errors
$e_v,e_{\omega }$	velocity errors
$u_{k}v,u_k\omega$	control signals from kinematic controller
$k_1,k_2,k_3$	gains of the kinematic kontrollers
$ϵ$	oscillation damping coefficient
${\omega }_n$	characteristic frequency
b	additional control coefficient
$u_{d}v,u_d\omega$	control signals from dynamic controller
$k_v,k_{\omega }$	gains of the dynamic controller
$t_r$	regulation time