Tom Kigezi

Papers

Total Citations

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About

Tom Kigezi is a robotics researcher whose work centers on control systems for autonomous mobile platforms, with a particular focus on nonholonomic wheeled mobile robots. His most-cited paper, "Sliding mode control for tracking of nonholonomic wheeled mobile robots" (2015, 3 citations), introduces a chatter-free sliding mode controller that employs conventional sliding surfaces to achieve precise trajectory tracking. Kigezi’s key contribution lies in simplifying complex control challenges: by linearly combining two indirectly controlled states into a single aggregate variable, he avoids problematic nonlinear state variable coupling, making the controller more practical for real-world deployment. This innovation addresses a fundamental issue in nonholonomic systems—where robots cannot move sideways—enabling smoother and more reliable path following. While his citation count reflects a niche but growing field, Kigezi’s work is notable for its elegant solution to a persistent problem in mobile robotics, offering a robust framework that balances theoretical rigor with implementation feasibility. His research is particularly valuable for students and engineers developing autonomous vehicles and service robots, where stable, chatter-free control is critical for safe operation.