• DocumentCode
    3783609
  • Title

    Observer based kinematic tracking controllers for a unicycle-type mobile robot

  • Author

    E. Lefeber;J. Jakubiak;K. Tchon;H. Nijmeijer

  • Author_Institution
    Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
  • Volume
    2
  • fYear
    2001
  • fDate
    6/23/1905 12:00:00 AM
  • Firstpage
    2084
  • Abstract
    In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-type mobile robot is considered. It is assumed that some of the tracking error coordinates are not measurable. Using a cascaded systems approach we develop full order and reduced order observers, and introduce an observer based controller resulting in K-exponential convergence of the tracking error. Simulations are provided to illustrate the results.
  • Keywords
    "Mobile robots","Robust stability","Robot kinematics","Coordinate measuring machines","Control systems","Convergence","Position measurement","Cybernetics","Error correction","Feedback"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-6576-3
  • Type

    conf

  • DOI
    10.1109/ROBOT.2001.932914
  • Filename
    932914
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3783609