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2002 | 12 | 4 | 513-522
Tytuł artykułu

Two observer-based tracking algorithms for a unicycle mobile robot

Treść / Zawartość
Warianty tytułu
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
Rocznik
Tom
12
Numer
4
Strony
513-522
Opis fizyczny
Daty
wydano
2002
otrzymano
2001-09-08
poprawiono
2002-04-24
(nieznana)
2002-10-08
Twórcy
  • Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland
  • Department of Mechanical Engineering, Eindhoven University of Technology, PO Box 513, 5600 MB Eindhoven, The Netherlands
  • Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland
  • Department of Mechanical Engineering, Eindhoven University of Technology, PO Box 513, 5600 MB Eindhoven, The Netherlands
Bibliografia
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  • Jiang Z.-P. and Nijmeijer H. (1999): Observer-controller design for nonholonomic systems, In: New Trends in Nonlinear Observer Design (Nijmeijer H. and Fossen T.I., Eds.). — London: Springer, pp. 207–228.
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Typ dokumentu
Bibliografia
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Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv12i4p513bwm
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