A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots

Khac Duc Do, Zhong Ping Jiang, Jie Pan

Research output: Contribution to journalArticle

Abstract

We present a time-varying global output-feedback controller that solves both tracking and stabilization for unicycle-type mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov's direct method, and backstepping technique. Simulations demonstrate the result.

Original languageEnglish (US)
Pages (from-to)589-594
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Volume20
Issue number3
DOIs
StatePublished - Jun 2004

Keywords

  • Exponential observer
  • Global output feedback
  • Mobile robot
  • Tracking and stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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