{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T10:48:17Z","timestamp":1764240497929,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2021,12,8]],"date-time":"2021-12-08T00:00:00Z","timestamp":1638921600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This study suggests a control Lyapunov-based optimal integral terminal sliding mode control (ITSMC) technique for tracker design of asymmetric nonholonomic robotic systems in the existence of external disturbances. The design procedure is based on the control Lyapunov function (CLF) approach. Hence, the output tracking problem is solved by combining the ITSMC with optimal control. The CLF synthesizes a nonlinear optimal control input for the nominal system. Once the control system\u2019s states lie far away from the operating point, it is activated to drive them toward the equilibrium point optimally. However, on the condition that the system perturbations are the main factor, the ITSMC would be designed to take over in the vicinity of the equilibrium point. Accordingly, the control goals, such as robustness and precise control, are warranted in the perturbed system. The usefulness of the suggested method is demonstrated with a wheeled mobile robot via a simulation study.<\/jats:p>","DOI":"10.3390\/sym13122367","type":"journal-article","created":{"date-parts":[[2021,12,8]],"date-time":"2021-12-08T23:30:00Z","timestamp":1639006200000},"page":"2367","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Lyapunov-Based Optimal Integral Finite-Time Tracking Control Approach for Asymmetric Nonholonomic Robotic Systems"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6528-3636","authenticated-orcid":false,"given":"Khalid A.","family":"Alattas","sequence":"first","affiliation":[{"name":"Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23890, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5676-1875","authenticated-orcid":false,"given":"Saleh","family":"Mobayen","sequence":"additional","affiliation":[{"name":"Future Technology Research Center, National Yunlin University of Science and Technology, Yunlin, Douliu 64002, Taiwan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1333-5646","authenticated-orcid":false,"given":"Wudhichai","family":"Assawinchaichote","sequence":"additional","affiliation":[{"name":"Department of Electronic and Telecommunication Engineering, Faculty of Engineering, King Mongkut\u2019s University of Technology Thonburi, Bangkok 10140, Thailand"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6862-1634","authenticated-orcid":false,"given":"Jihad H.","family":"Asad","sequence":"additional","affiliation":[{"name":"Department of Physics, Faculty of Applied Sciences, Palestine Technical University, Tulkarm P.O. Box 7, Palestine"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0387-921X","authenticated-orcid":false,"given":"Jan","family":"Awrejcewicz","sequence":"additional","affiliation":[{"name":"Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, 1\/15 Stefanowski St., 90-924 Lodz, Poland"}]},{"given":"Ayman A.","family":"Aly","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"}]},{"given":"Abdulaziz H.","family":"Alghtani","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Popescu, M., and Popescu, P. (2021). Noether Invariants for Nonholonomic Systems. 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