An observer-controller combination for a unicycle mobile robot

S.P.M. Noijen, P.F. Lambrechts, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

48 Citations (Scopus)
3 Downloads (Pure)


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.
Original languageEnglish
Pages (from-to)81-87
JournalInternational Journal of Control
Issue number2
Publication statusPublished - 2005


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