A major issue in the automatic guidance of vehicles is the design of control laws dedicated
to the specific mobile platform used. Thus, if the model associated with the mobile platform …

A fully actuated system (FAS) approach integrated with adaptive robust integral of the sign of
the error (ARISE) feedback control strategy is proposed for multi-input multi-output nonlinear …

In this article, a multivariable control design scheme is proposed for the reference trajectory
tracking task in a kinematic model of a mobile robot. The control scheme leads to time …

This article describes the design of a linear observer–linear controller-based robust output
feedback scheme for output reference trajectory tracking tasks in the case of nonlinear …

A wheeled mobile robot (WMR) is a typical nonholonomic system in which the wheels have
constrained interactions with the ground. To relate these local interactions to some global …

This paper presents a linear robust output reference trajectory tracking controller, addressed
here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we …

In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an
underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is …

This paper discusses how mobile manipulators with an under-actuated vertical arm can be
designed to be differentially flat. The property of differential flatness is achieved by …

This paper presents a linear robust output reference trajectory tracking controller, addressed
here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we …