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This paper is interesting to a nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior while the second relates to the dynamic behavior of the mobile robot. For the Kinematic controller, we have used a Takagi-Sugeno fuzzy system to overcome the nonlinearities present in model whereas for the second controller we have used the sliding mode approach. The sliding surface has the identicaldoi:10.21203/rs.3.rs-450848/v1 fatcat:gu3hqe22o5fehc6dop3z4l3bki