Two observer-based tracking algorithms for a unicycle mobile robot

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

Research output: Contribution to journalArticleAcademicpeer-review

95 Downloads (Pure)


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
Issue number4
Publication statusPublished - 2002


Dive into the research topics of 'Two observer-based tracking algorithms for a unicycle mobile robot'. Together they form a unique fingerprint.

Cite this