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.
|Journal||International Journal of Applied Mathematics and Computer Science|
|Publication status||Published - 2002|