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