@article {Seo:January 2006:0169-1864:1,
	author = "Seo, Keehong",
	author = "Lee, Jin S.",
	title = "Kinematic path-following control of a mobile robot under bounded angular velocity error",
	journal = "Advanced Robotics",
	volume = "20",
	year = "January 2006",
	abstract = "This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests.",
	pages = "1-23(23)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2006/00000020/00000001/art00001"
	doi = "doi:10.1163/156855306775275512"
}