1. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 The single axis car Figure Legend:

2. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Simulation control inputs Figure Legend:

3. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Simulation trajectory tracking Figure Legend:

4. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Mobile robot prototype Figure Legend:

5. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Image acquisition device Figure Legend:

6. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Experimental control schematics Figure Legend:

7. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Experimental control inputs Figure Legend:

8. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Experimental trajectory tracking Figure Legend:

9. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Comparison of the tracking errors in the Cartesian space Figure Legend:

10. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Trajectory tracking behavior of the feedforward linearization and the observer based control scheme Figure Legend:

11. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme J. Dyn. Sys., Meas., Control. 2015;137(5):051001-051001-8. doi:10.1115/1.4028872 Error index comparison of the feedforward linearization and the observer based control scheme Figure Legend: