Robust output trajectory tracking of car-like robot mobile

Abstract

In this paper, we propose a robust output trajectory tracking based on the differential flatness and the integral sliding mode control of the car-like robot mobile. The trajectory planning and the dynamic linearization are based on the differential flatness property of the robot, whereas the integral sliding mode control is designed to solve the reaching phase problem with the elimination of matched uncertainties and minimization of unmatched one. The effectiveness of the proposed control scheme is demonstrated through simulation studies.