Two observer-based tracking algorithms for a unicycle mobile robot

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

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 language	English
Pages (from-to)	513-522
Journal	International Journal of Applied Mathematics and Computer Science
Volume	12
Issue number	4
Publication status	Published - 2002

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title = "Two observer-based tracking algorithms for a unicycle mobile robot",

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.",

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AU - Lefeber, A.A.J.

AU - Tchon, K.

AU - Nijmeijer, H.

PY - 2002

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AB - 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.

M3 - Article

VL - 12

SP - 513

EP - 522

JO - International Journal of Applied Mathematics and Computer Science

JF - International Journal of Applied Mathematics and Computer Science

SN - 1641-876x

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