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Two observer-based tracking algorithms for a unicycle mobile robot

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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.
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Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

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Michałek M., Dutkiewicz P., Kiełczewski M., Pazderski D.
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
547-559
EN
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
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