AUTHORS: Salah Nasr, Amine Abadi, Kais Bouallegue, Hassen Mekki

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ABSTRACT: In this paper, based on differential flatness theory, the motion control of a wheeled mobile robot is studied. However, a flatness-based controller is designed to ensure the trajectory tracking. Secondly, this paper deal about the complex chaotic behaviors which can appear in the dynamic trajectory of an mobile robot. Different mathematical tools have been used such as flatness control technique and non linear chaotic system. Simulation results for kinematic controller is presented to demonstrate the effectiveness of this approach.

KEYWORDS: Mobile robot, flatness control, chaos control, chaotic phenomena

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