English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper addresses the trajectory tracking problem of a nonholonomic mobile robot. More precisely, we are interested in solving the problem of tracking a reference trajectory in presence of disturbances. A control strategy based on the Integral SlidingMode is proposed combined with a state feedback linearization. While many studies have considered the kinematic model of the vehicle only, we have used both kinematic and dynamic models. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. To assess the quality of the proposed approach, we performed in addition to simulations the implementation of this controller on the robot Koala, a two-wheel differentially driven mobile robot. Lab work illustrates the real quality and efficiency of this control strategy.

EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT