Inspec keywords: mathematics computing; variable structure systems; robot dynamics; path planning; velocity control; closed loop systems; wheels; time-varying systems; mobile robots

Other keywords: sliding mode controller; wheel axis; mass centre; path following; nonholonomic mobile robot; dynamic model; adaptive gain; velocity controller; underactuated vehicle body; time-varying horizontal distance; two-wheeled mobile robot; MATLAB environment; closed-loop structures

Subjects: Velocity, acceleration and rotation control; Mobile robots; Multivariable control systems; Spatial variables control; Time-varying control systems; Robot and manipulator mechanics