{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T15:01:03Z","timestamp":1781622063860,"version":"3.54.5"},"reference-count":38,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,6,3]],"date-time":"2024-06-03T00:00:00Z","timestamp":1717372800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a novel robust output feedback control that simultaneously performs both stabilization and trajectory tracking for a class of underactuated nonholonomic systems despite model uncertainties, external disturbance, and the absence of velocity measurement. To solve this challenging problem, a generalized normal form has been successfully created by employing an input\u2013output feedback linearization approach and a change in coordinates (diffeomorphism). This research mainly focuses on the stabilization problem of nonholonomic systems that can be transformed to a normal form and pose several challenges, including (i) a nontriangular normal form, (ii) the internal dynamics of the system are non-affine in control, and (iii) the zero dynamics of the system are not in minimum phase. The proposed scheme utilizes combined backstepping and sliding mode control (SMC) techniques. Furthermore, the full-order high gain observer (HGO) has been developed to estimate the derivative of output functions and internal dynamics. Then, full-order HGO and the backstepping SMC have been integrated to synthesize a robust output feedback controller. A differential-drive type (2,0) the wheeled mobile robot has been considered as an example to support the theoretical results. The simulation results demonstrate that the backstepping SMC exhibits robustness against bounded uncertainties.<\/jats:p>","DOI":"10.3390\/s24113616","type":"journal-article","created":{"date-parts":[[2024,6,3]],"date-time":"2024-06-03T12:19:46Z","timestamp":1717417186000},"page":"3616","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Robust Output Feedback Stabilization and Tracking for an Uncertain Nonholonomic Systems with Application to a Mobile Robot"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7309-2132","authenticated-orcid":false,"given":"Muhammad Junaid","family":"Rabbani","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Karachi 75030, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9747-1794","authenticated-orcid":false,"given":"Attaullah Y.","family":"Memon","sequence":"additional","affiliation":[{"name":"Department of Electronics and Power Engineering, PN Engineering College, National University of Sciences and Technology, Karachi 75500, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4789-2902","authenticated-orcid":false,"given":"Muhammad","family":"Farhan","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Technology, Government College University Faisalabad, Faisalabad 38000, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7835-6830","authenticated-orcid":false,"given":"Raja Masood","family":"Larik","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, N.E.D University of Engineering and Technology, Karachi 75270, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7637-7870","authenticated-orcid":false,"given":"Shahzad","family":"Ashraf","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, NFC Institute of Engineering and Technology, Multan 60000, Pakistan"},{"name":"Department of Electrical Engineering, DHA Suffa University, Karachi 75500, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6823-0860","authenticated-orcid":false,"given":"Muhammad","family":"Burhan Khan","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National University of Computer and Emerging Sciences, Karachi 75030, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7359-2743","authenticated-orcid":false,"given":"Zeeshan Ahmad","family":"Arfeen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, The Islamia University of Bahawalpur, Bahawalpur 63100, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Rabbani, M.J., and Memon, A.Y. 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