Name
Abstract | ||
|---|---|---|
In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-type mobile robot is considered. It is assumed that some of the tracking error coordinates are not measurable. Using a cascaded systems approach we develop full order and reduced order observers, and introduce an observer based controller resulting in K-exponential convergence of the tracking error. Simulations are provided to illustrate the results. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.932914 | Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference |
Keywords | Field | DocType |
cascade systems,convergence,mobile robots,observers,reduced order systems,robot kinematics,stability,tracking,cascaded systems,convergence,global trajectory tracking,kinematic model,mobile robot,reduced order observers,stability,unicycle-type | Control theory,Kinematics,Control theory,Robot kinematics,Tracking system,Control engineering,Control system,Observer (quantum physics),Mathematics,Mobile robot,Tracking error | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-6576-3 | 1 | 0.40 |
References | Authors | |
7 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| E. Lefeber | 1 | 174 | 17.78 |
| Janusz Jakubiak | 2 | 17 | 6.35 |
| Krzysztof Tchon | 3 | 52 | 13.93 |
| Henk Nijmeijer | 4 | 1191 | 161.43 |