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.
- Exponential observer
- Global output feedback
- Mobile robot
- Tracking and stabilization
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering