Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A robust trajectory tracking controller for four-wheel skid-steering
  mobile robots   A novel dynamic model-based trajectory tracking control law is proposed for a
four-wheel differentially driven mobile robot using a backstepping technique
that guarantees the Lyapunov stability. The present work improves the work of
Caracciolo et al. (ICRA 1999), a dynamic feedback linearization approach, by
reducing the number of required assumptions and the number of state terms. We
also thoroughly investigate on a gain tuning procedure which is often
overlooked for nonlinear controllers. Finally, the performance of the proposed
controller is compared with the dynamic feedback linearization approach via
simulation results which indicate that our controller is robust even in the
presence of measurement noise and control time delay.

27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
19
The categories of this paper are: eess
5
The categories of this paper are: gr-qc
1
The categories of this paper are: cs
29
The categories of this paper are: funct-an
8
The categories of this paper are: hep-ex
26
The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
18
The categories of this paper are: econ
17
The categories of this paper are: q-fin
25
The categories of this paper are: patt-sol