Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / The single axis car Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Simulation control inputs Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Simulation trajectory tracking Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Mobile robot prototype Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Image acquisition device Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Experimental control schematics Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Experimental control inputs Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Experimental trajectory tracking Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Comparison of the tracking errors in the Cartesian space Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Trajectory tracking behavior of the feedforward linearization and the observer based control scheme Figure Legend:

Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5): doi: / Error index comparison of the feedforward linearization and the observer based control scheme Figure Legend: