Creator:

Jakubiak, Jacek ; Lefeber, Erjen ; Tchoń, Krzysztof ; Nijmeijer, Henk

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Two observer-based tracking algorithms for a unicycle mobile robot

Group publication title:

AMCS, volume 12 (2002)

Subject and Keywords:

observer ; trajectory tracking ; mobile robots

Abstract:

A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the ?-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2002

Resource Type:

artykuł

Pages:

513-522

Source:

AMCS, volume 12, number 4 (2002) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego