摘要：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.
关键词：Dynamic feedback linearizing; Flatness; Integral sliding mode control; Trajectory;
tracking; wheeled mobile robot.
