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1
Content available remote

Book review: "Current Trends in Nonlinear Systems and Control" by L. Menini, L. Zaccarian and Ch.T. Abdallah, eds.

100%
Tchoń K.
Control and Cybernetics
|
2007
|
tom 36
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nr 1
269-273
2
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Two observer-based tracking algorithms for a unicycle mobile robot

81%
Jakubiak J., Lefeber E., Tchoń K., Nijmeijer H.
International Journal of Applied Mathematics and Computer Science
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2002
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tom 12
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nr 4
513-522
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.
3
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Approximation of Jacobian inverse kinematics algorithms

81%
Tchoń K., Karpińska J., Janiak M.
International Journal of Applied Mathematics and Computer Science
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2009
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tom 19
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nr 4
519-531
EN
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
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