This paper considers the problem of output feedback trajectory tracking with a unicyclemobile robot system. A state-feedback controller for the non-linear error dynamics of therobot is combined with an observer that estimates the orientation error based on availabletrajectory information and measurement of the position coordinates. A stability analysis, derivationand implementation of the resulting controller is given and tested on an experimentalmobile robot.
Noijen, S. P. M., Lambrechts, P. F., & Nijmeijer, H. (2005). An observer-controller combination for a unicycle mobile robot. International Journal of Control, 78(2), 81-87. https://doi.org/10.1080/00207170500036050