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There are two control algorithms that are used, namely, the flatness-based controller and the backstepping controller. From the simulation results, it is evident that the extracted dynamic model of the robot is accurate. Moreover, the flatness-based controller proved to have the upper hand in performance over the backstepping controller.<\/jats:p>","DOI":"10.1177\/0037549717741192","type":"journal-article","created":{"date-parts":[[2017,11,22]],"date-time":"2017-11-22T05:56:09Z","timestamp":1511330169000},"page":"797-820","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":14,"title":["Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot"],"prefix":"10.1177","volume":"94","author":[{"given":"Saumya R","family":"Sahoo","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shital S","family":"Chiddarwar","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Veer","family":"Alakshendra","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2017,11,22]]},"reference":[{"key":"bibr1-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-011-4275-y"},{"key":"bibr2-0037549717741192","volume-title":"Proceedings IEEE International Conference on Robotics and Automation","author":"Campion G"},{"key":"bibr3-0037549717741192","volume-title":"Introduction to mobile robot control","author":"Tzafestas SG","year":"2013"},{"key":"bibr4-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1109\/70.313098"},{"key":"bibr5-0037549717741192","volume-title":"Proceedings 1987 IEEE International Conference on Robotics and Automation","author":"Muir P"},{"key":"bibr6-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2013615"},{"key":"bibr7-0037549717741192","volume-title":"2013 CACS International Automatic Control Conference (CACS)","author":"Jia Y"},{"key":"bibr8-0037549717741192","volume-title":"Mechatronics and Machine Vision in Practice, M2VIP 2008 15th International Conference","author":"Tlale N"},{"key":"bibr9-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/S0016-0032(96)00126-3"},{"key":"bibr10-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/0957-4158(91)90040-H"},{"key":"bibr11-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/S1367-5788(03)00010-5"},{"key":"bibr12-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2015.01.362"},{"key":"bibr13-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2015.10.003"},{"key":"bibr14-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2008.06.011"},{"key":"bibr15-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2013.09.006"},{"key":"bibr16-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2015.10.010"},{"key":"bibr17-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1177\/0959651814557111"},{"key":"bibr18-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1177\/0037549717693687"},{"key":"bibr19-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1080\/00207179508921959"},{"key":"bibr20-0037549717741192","volume-title":"ASME International Mechanical Engineering Congress and Exposition","author":"Murray RM"},{"key":"bibr21-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2066282"},{"key":"bibr22-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2310498"},{"key":"bibr23-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2012.6324664"},{"key":"bibr24-0037549717741192","volume-title":"Intelligent Transportation Systems (ITSC), 14th International IEEE Conference","author":"Menhour L"},{"key":"bibr25-0037549717741192","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-35852-4_18"},{"key":"bibr26-0037549717741192","doi-asserted-by":"crossref","unstructured":"Walambe R, Agarwal N, Kale S, et al. 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