Two observer-based tracking algorithms for a unicycle mobile robot

• Autorzy: Janusz Jakubiak , Erjen Lefeber , Krzysztof Tchoń , Henk Nijmeijer
• Języki publikacji: EN

Abstrakty

EN

A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

Słowa kluczowe

EN

mobile robot; observer; trajectory tracking

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2002
• Tom: 12
• Numer: 4
• Strony: 513-522

Daty

wydano

2002

otrzymano

2001-09-08

poprawiono

2002-04-24

(nieznana)

2002-10-08

Twórcy

autor

Janusz Jakubiak

• Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland

autor

Erjen Lefeber

• Department of Mechanical Engineering, Eindhoven University of Technology, PO Box 513, 5600 MB Eindhoven, The Netherlands

autor

Krzysztof Tchoń

• Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland

autor

Henk Nijmeijer

• Department of Mechanical Engineering, Eindhoven University of Technology, PO Box 513, 5600 MB Eindhoven, The Netherlands

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