A robust control intended for a nonholonomic mobile robot is considered to guarantee good
tracking a desired trajectory. The main drawbacks of the mobile robot model are the …

As nonholonomic mobile robots have constraints imposed on motions that are not
integrable, ie the constraints cannot be written as time derivatives of some function of the …

This article propounds addressing the design of a sliding mode controller with adaptive
gains for trajectory tracking of unicycle mobile robots. The dynamics of this class of robots …

Nonholonomic mobile robots have constraints imposed on the motion that are not
integrable, ie, the constraints cannot be written as time derivatives of some function of the …

This paper investigates the problem of trajectory tracking for nonholonomic wheels mobile
robots. Constraints nonholonomic that arise in this type of robot, and the uncertainties in the …

In this paper, trajectory tracking for nonholonomic mobile robots is addressed. Two
strategies are proposed: the first is based on Lyapunov stability theory, while the second …

This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled
mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which …

In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to
kinematic disturbances is proposed. A variable structure controller based on the sliding …

In this paper a new adaptive control technique for path tracking of nonholonomic mobile
robot is designed to deal with unknown skidding and slipping as well as external …

We propose a nonlinear control law based on sliding mode control technique to stabilize a
mobile robot while adhering to the physical constraints on its configuration variables. The …