Two observer-based tracking algorithms for a unicycle mobile robot

J. Jakubiak, A.A.J. Lefeber, K. Tchon, H. Nijmeijer

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Abstract

In this paper a trajectory tracking problem for the three-dimensional kinematic model of the unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of a cascaded systems theory we develop observers for each of the error coordinates and show K-exponential convergence of the tracking error in the combined closed-loop observer-controller systems. The results are illustrated with computer simulations.
Original languageEnglish
Pages (from-to)513-522
JournalInternational Journal of Applied Mathematics and Computer Science
Volume12
Issue number4
Publication statusPublished - 2002

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