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Experimental testing of a discrete-time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects

Maria Letizia Corradini, T. Leo, Giuseppe Orlando. Experimental testing of a discrete-time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects. J. Field Robotics, 19(4):177-188, 2002. [doi]

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