{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T16:36:38Z","timestamp":1783096598367,"version":"3.54.6"},"reference-count":68,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,12,7]],"date-time":"2018-12-07T00:00:00Z","timestamp":1544140800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado del Instituto Polit\u00e9cnico Nacional (SIP-IPN)","award":["2018"],"award-info":[{"award-number":["2018"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC\/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.<\/jats:p>","DOI":"10.3390\/s18124316","type":"journal-article","created":{"date-parts":[[2018,12,10]],"date-time":"2018-12-10T03:36:41Z","timestamp":1544413001000},"page":"4316","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":71,"title":["Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7036-0990","authenticated-orcid":false,"given":"Jos\u00e9 Rafael","family":"Garc\u00eda-S\u00e1nchez","sequence":"first","affiliation":[{"name":"Departamento de Procesos Productivos, Unidad Lerma, Universidad Aut\u00f3noma Metropolitana, Estado de Mexico 52005, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2555-6262","authenticated-orcid":false,"given":"Salvador","family":"Tavera-Mosqueda","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de Mexico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7540-489X","authenticated-orcid":false,"given":"Ram\u00f3n","family":"Silva-Ortigoza","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de Mexico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7016-2561","authenticated-orcid":false,"given":"Victor Manuel","family":"Hern\u00e1ndez-Guzm\u00e1n","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Quer\u00e9taro 76010, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5578-4389","authenticated-orcid":false,"given":"Jacobo","family":"Sandoval-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"Departamento de Procesos Productivos, Unidad Lerma, Universidad Aut\u00f3noma Metropolitana, Estado de Mexico 52005, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4997-0617","authenticated-orcid":false,"given":"Mariana","family":"Marcelino-Aranda","sequence":"additional","affiliation":[{"name":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Unidad Profesional Interdisciplinaria de Ingenier\u00eda y Ciencias Sociales y Administrativas, Instituto Polit\u00e9cnico Nacional, Ciudad de Mexico 08400, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7644-5706","authenticated-orcid":false,"given":"Hind","family":"Taud","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de Mexico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1435-6908","authenticated-orcid":false,"given":"Magdalena","family":"Marciano-Melchor","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de Mexico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,7]]},"reference":[{"key":"ref_1","unstructured":"Campion, G., d\u2019Andr\u00e9a-Novel, B., and Bastin, G. (1991, January 11\u201313). Modelling and state feedback control of nonholonomic mechanical systems. Proceedings of the 30th IEEE Conference on Decision and Control, Brighton, UK."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1746","DOI":"10.1109\/9.173144","article-title":"Control and stabilization of nonholonomic dynamic systems","volume":"37","author":"Bloch","year":"1992","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/37.476384","article-title":"Developments in nonholonomic control problems","volume":"15","author":"Kolmanovsky","year":"1995","journal-title":"IEEE Control Syst. Mag."},{"key":"ref_4","unstructured":"Brockett, R.W., Millman, R.S., and Sussmann, H.H. (1983). Asymptotic stability and feedback stabilization. Differential Geometric Control Theory, Birkha\u00fcser."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1109\/TLA.2016.7437207","article-title":"Trajectory tracking control for a differential drive wheeled mobile robot considering the dynamics related to the actuators and power stage","volume":"14","year":"2016","journal-title":"IEEE Lat. Am. Trans."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1093","DOI":"10.1109\/TLA.2016.7459584","article-title":"Assessment of an average tracking controller that considers all the subsystems involved in a WMR: Implementation via pwm or sigma-delta modulation","volume":"14","year":"2016","journal-title":"IEEE Lat. Am. Trans."},{"key":"ref_7","first-page":"5318504","article-title":"Tracking control for mobile robots considering the dynamics of all their subsystems: Experimental implementation","volume":"2017","author":"Taud","year":"2017","journal-title":"Complexity"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"743","DOI":"10.6113\/JPE.2011.11.5.743","article-title":"Sensorless passivity based control of a DC motor via solar powered sepic converter-full bridge combination","volume":"11","year":"2011","journal-title":"J. Power Electron."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"910","DOI":"10.1109\/TIE.2014.2359414","article-title":"Design of a single-switch DC\/DC converter for a PV-battery-powered pump system with PFM+PWM control","volume":"62","author":"An","year":"2015","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3575","DOI":"10.1109\/TIA.2018.2810263","article-title":"Single-stage PV array fed speed sensorless vector control of induction motor drive for water pumping","volume":"54","author":"Shukla","year":"2018","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_11","unstructured":"Ashok, R.S., Shtessel, Y.B., and Ghanes, M. (2017, January 9\u201314). Sliding model control of hydrogen fuel cell and ultracapitor based electric power system: Electric vehicle application. Proceedings of the 20th IFAC World Congress, Tolouse, France."},{"key":"ref_12","first-page":"1","article-title":"Visual tracking in unknown environments using fuzzy logic and dead reckoning","volume":"50","author":"Amine","year":"2016","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1328","DOI":"10.1109\/TCST.2015.2495234","article-title":"Model-free unified tracking and regulation visual servoing of wheeled mobile robots","volume":"24","author":"Li","year":"2016","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1016\/j.rcim.2016.02.002","article-title":"Real-time smooth trajectory generation for nonholonomic mobile robots using B\u00e9zier curves","volume":"41","author":"Renny","year":"2016","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"2330","DOI":"10.1109\/TMECH.2015.2504098","article-title":"Visual servo regulation of wheeled mobile robots with an uncalibrated onboard camera","volume":"21","author":"Li","year":"2016","journal-title":"IEEE-ASME Trans. Mechatron."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"6172","DOI":"10.1109\/TIE.2016.2590378","article-title":"Robust distance-based tracking control of wheeled mobile robots using vision sensors in the presence of kinematic disturbances","volume":"63","author":"Chwa","year":"2016","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"196","DOI":"10.1016\/j.mechatronics.2016.05.005","article-title":"Stable kinematic teleoperation of wheeled mobile robots with slippage using time-domain passivity control","volume":"39","author":"Li","year":"2016","journal-title":"Mechatronics"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1080","DOI":"10.1007\/s40815-016-0224-7","article-title":"Design of path planning and obstacle avoidance for a wheeled mobile robot","volume":"18","author":"Chen","year":"2016","journal-title":"Int. J. Fuzzy Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/1729881416680551","article-title":"Differential-drive mobile robot control using a cloud of particles approach","volume":"14","author":"Lages","year":"2017","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"505","DOI":"10.1109\/TIE.2016.2606358","article-title":"Robust stabilization of a wheeled mobile robot using model predictive control based on neurodynamics optimization","volume":"64","author":"Xiao","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/j.robot.2016.09.016","article-title":"A comparison of continuous and discrete tracking-error model-based predictive control for mobile robots","volume":"87","year":"2017","journal-title":"Robot. Auton. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"390","DOI":"10.1109\/TIE.2016.2598526","article-title":"Visual servoing of nonholonomic mobile robots with uncalibrated camera-to-robot parameters","volume":"64","author":"Zhang","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"2147","DOI":"10.1109\/TIE.2016.2619320","article-title":"Kinematic bilateral teledriving of wheeled mobile robots coupled with slippage","volume":"64","author":"Li","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"653","DOI":"10.1109\/TCST.2016.2558479","article-title":"Receding horizon control for convergent navigation of a differential drive mobile robot","volume":"25","author":"Seder","year":"2017","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"840","DOI":"10.1177\/0278364917707583","article-title":"First-person view semi-autonomous teleoperation of cooperative wheeled mobile robots with visuo-haptic feedback","volume":"36","author":"Yee","year":"2017","journal-title":"Int. J. Robot. Res."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/1729881417710634","article-title":"A novel iterative learning path-tracking control for nonholonomic mobile robots against initial shifts","volume":"14","author":"Zhao","year":"2017","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1007\/s11633-016-1042-y","article-title":"Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm","volume":"14","author":"Mallikarjuna","year":"2017","journal-title":"Int. J. Autom. Comput."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"765","DOI":"10.1016\/j.apm.2016.11.001","article-title":"Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry","volume":"47","author":"Sun","year":"2017","journal-title":"Appl. Math. Model."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"6714","DOI":"10.1109\/TIE.2017.2711500","article-title":"Generalized regular form based SMC for nonlinear systems with application to a WMR","volume":"64","author":"Mu","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"2313","DOI":"10.1007\/s12555-016-0350-x","article-title":"Lyapunov-based model predictive control for tracking of nonholonomic mobile robots under input constraints","volume":"15","author":"Liu","year":"2017","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"2576","DOI":"10.1109\/TMECH.2017.2758603","article-title":"Disturbance rejection MPC for tracking of wheeled mobile robot","volume":"22","author":"Sun","year":"2017","journal-title":"IEEE-ASME Trans. Mechatron."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"460","DOI":"10.1109\/TIE.2017.2711861","article-title":"Visual servo regulation of wheeled mobile robots with simultaneous depth identification","volume":"65","author":"Li","year":"2018","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1108\/IR-07-2017-0128","article-title":"Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e., Quanser Qbot)","volume":"45","author":"Alouache","year":"2018","journal-title":"Ind. Robot."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/1729881418760461","article-title":"Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach","volume":"15","author":"Nascimento","year":"2018","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"571","DOI":"10.1109\/TCYB.2016.2646719","article-title":"Adaptive trajectory tracking of nonholonomic mobile robots using vision-based position and velocity estimation","volume":"48","author":"Li","year":"2018","journal-title":"IEEE Trans. Cybern."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"206","DOI":"10.1049\/iet-cta.2017.0395","article-title":"Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints","volume":"12","author":"Yang","year":"2018","journal-title":"IET Control Theory Appl."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"3437","DOI":"10.1109\/TIE.2017.2756595","article-title":"Robust tube-based predictive control for visual servoing of constrained differential-drive mobile robots","volume":"65","author":"Ke","year":"2018","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"4482","DOI":"10.1109\/TLA.2016.7795818","article-title":"Trajectory generation for wheeled mobile robots via B\u00e9zier polynomials","volume":"14","year":"2016","journal-title":"IEEE Lat. Am. Trans."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1504\/IJMIC.2017.082943","article-title":"Nonlinear sliding mode control of a two-wheeled mobile robot system","volume":"27","author":"Mu","year":"2017","journal-title":"Int. J. Model. Identif. Control"},{"key":"ref_40","first-page":"56","article-title":"Adaptive fuzzy-pd tracking controller for optimal visual-servoing of wheeled mobile robots","volume":"19","author":"Saleem","year":"2017","journal-title":"Control Eng. Appl. Inform."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1127","DOI":"10.1007\/s11071-016-2749-6","article-title":"Adaptive robust tracking control of a class of nonlinear systems with input delay","volume":"85","author":"Roy","year":"2016","journal-title":"Nonlinear Dyn."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1016\/j.neucom.2015.11.099","article-title":"Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots","volume":"198","author":"Huang","year":"2016","journal-title":"Neurocomputing"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"595","DOI":"10.1007\/s40815-016-0166-0","article-title":"Hybrid intelligent algorithm for indoor path planning and trajectory-tracking control of wheeled mobile robot","volume":"18","author":"Li","year":"2016","journal-title":"Int. J. Fuzzy Syst."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"2702","DOI":"10.1109\/TAC.2015.2504547","article-title":"Formation control and velocity tracking for a group of nonholonomic wheeled robots","volume":"61","author":"Vos","year":"2016","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"3018","DOI":"10.1002\/rnc.3485","article-title":"Design and implementation of a block-backstepping based tracking control for nonholonomic wheeled mobile robot","volume":"26","author":"Rudra","year":"2015","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"605","DOI":"10.1007\/s11071-016-2910-2","article-title":"Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network","volume":"86","author":"Peng","year":"2016","journal-title":"Nonlinear Dyn."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"2484","DOI":"10.1109\/TCYB.2015.2478857","article-title":"Near-optimal tracking control of mobile robots via receding-horizon dual heuristic programming","volume":"46","author":"Lian","year":"2016","journal-title":"IEEE Trans. Cybern."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"2059","DOI":"10.1109\/TCST.2016.2519282","article-title":"Two time-scale tracking control of nonholonomic wheeled mobile robots","volume":"24","author":"Sun","year":"2016","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"3359","DOI":"10.1109\/TIE.2016.2613839","article-title":"Disturbance attenuation tracking control for wheeled mobile robots with skidding and slipping","volume":"64","author":"Chen","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"3671846","DOI":"10.1155\/2017\/3671846","article-title":"Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot","volume":"2017","author":"Peng","year":"2017","journal-title":"Math. Probl. Eng."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.1109\/TMECH.2017.2675280","article-title":"Development of a new robust controller with velocity estimator for docked mobile robots: Theory and experiments","volume":"22","author":"Lashkari","year":"2017","journal-title":"IEEE-ASME Trans. Mechatron."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"498","DOI":"10.1109\/JAS.2017.7510553","article-title":"Neural network based terminal sliding mode control for WMRs affected by an augmented ground friction with slippage effect","volume":"4","author":"Yue","year":"2017","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"8501098","DOI":"10.1155\/2017\/8501098","article-title":"Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator","volume":"2017","author":"Capraro","year":"2017","journal-title":"Math. Probl. Eng."},{"key":"ref_54","first-page":"1","article-title":"Wheeled mobile robot design with robustness properties","volume":"2018","author":"Chen","year":"2018","journal-title":"Adv. Mech. Eng."},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"378","DOI":"10.3906\/elk-1705-167","article-title":"Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded disturbances","volume":"26","author":"Nguyen","year":"2018","journal-title":"Turk. J. Electr. Eng. Comput. Sci."},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"2419","DOI":"10.1109\/TIE.2017.2740845","article-title":"Robust adaptive fault-tolerant control of mobile robots with varying center of mass","volume":"65","author":"Shen","year":"2018","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_57","first-page":"683","article-title":"Finite-time control for nonholonomic mobile robot by brain emotional learning-based intelligent controller","volume":"14","author":"Bian","year":"2018","journal-title":"Int. J. Innov. Comp. Inf. Control"},{"key":"ref_58","doi-asserted-by":"crossref","first-page":"7109","DOI":"10.1109\/TIE.2017.2688959","article-title":"Adaptive-robust time-delay control for a class of uncertain euler-lagrange systems","volume":"64","author":"Spandan","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"8156","DOI":"10.1016\/j.jfranklin.2017.10.010","article-title":"Adaptive sliding mode control of a class of nonlinear systems with artificial delay","volume":"354","author":"Spandan","year":"2017","journal-title":"J. Frankl. Inst. Eng. Appl. Math."},{"key":"ref_60","doi-asserted-by":"crossref","first-page":"724","DOI":"10.1109\/TFUZZ.2015.2476519","article-title":"Global fuzzy adaptive hierarchical path tracking control of a mobile robot with experimental validation","volume":"24","author":"Hwang","year":"2016","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_61","doi-asserted-by":"crossref","first-page":"5502","DOI":"10.1109\/TIE.2017.2677331","article-title":"Time-optimal trajectory planning based on dynamics for differential-wheeled mobile robots with a geometric corridor","volume":"64","author":"Kim","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_62","doi-asserted-by":"crossref","unstructured":"Sira-Ram\u00edrez, H., and Agrawal, S.K. (2004). Differentially Flat Systems, Marcel Dekker.","DOI":"10.1201\/9781482276640"},{"key":"ref_63","doi-asserted-by":"crossref","first-page":"1385","DOI":"10.1163\/016918610X501480","article-title":"Velocity and current inner loops in a wheeled mobile robot","volume":"24","year":"2010","journal-title":"Adv. Robot."},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"609","DOI":"10.1109\/70.880812","article-title":"Adaptive tracking control of nonholonomic mobile robot","volume":"16","author":"Fukao","year":"2000","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_65","doi-asserted-by":"crossref","unstructured":"Hern\u00e1ndez-Guzm\u00e1n, V.M., and Silva-Ortigoza, R. (2019). Velocity Control of a Permanent Magnet Brushed Direct Current Motor. Automatic Control with Experiments. Advanced Textbooks in Control and Signal Processing, Springer.","DOI":"10.1007\/978-3-319-75804-6"},{"key":"ref_66","unstructured":"Sira-Ram\u00edrez, H., and Silva-Ortigoza, R. (2006). Control Design Techniques in Power Electronics Devices, Springer."},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"1076","DOI":"10.1109\/TPEL.2014.2311821","article-title":"DC\/DC Buck power converter as a smooth starter for a DC motor based on a hierarchical control","volume":"30","year":"2015","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_68","doi-asserted-by":"crossref","unstructured":"Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., and Peng, C.-C. (2018). Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors, 18.","DOI":"10.3390\/s18093170"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4316\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:31:55Z","timestamp":1760196715000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/12\/4316"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,12,7]]},"references-count":68,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2018,12]]}},"alternative-id":["s18124316"],"URL":"https:\/\/doi.org\/10.3390\/s18124316","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,12,7]]}}}