Control of the Chaotic Phenomenon in Robot Path using Differential Flatness

This paper deals with the complex chaotic behavior that can appear in the dynamic trajectory of a mobile robot, when the robot is broken or partly damaged. However, a flatness-based controller is designed to ensure the trajectory planning and tracking. Different mathematical tools have been used such as the flatness control technique and non linear chaotic systems. The simulation results for the kinematic controller are presented to demonstrate the effectiveness of this approach.

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