@article {64633,
	title = {PD Terminal Sliding Mode Control Using Fuzzy Genetic Algorithm for Mobile Robot in Presence of Disturbances, ISSN / e-ISSN 1897-8649 / 2080-2145},
	journal = {Journal of automation, Mobile robotics \&intelligent systemsJournal of automation, Mobile robotics \&intelligent systems},
	volume = {Volume 12},
	year = {2018},
	month = {2018},
	pages = {pp 52-60},
	abstract = {This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.},
	author = {Walid, Benaziza and Noureddine, Slimane and Mallem, Ali}
}
