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

Khac Duc Do; Zhong Ping Jiang; Jie Pan

doi:10.1109/TRA.2004.825470

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

Khac Duc Do, Zhong Ping Jiang, Jie Pan

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

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 language	English (US)
Pages (from-to)	589-594
Number of pages	6
Journal	IEEE Transactions on Robotics and Automation
Volume	20
Issue number	3
DOIs	https://doi.org/10.1109/TRA.2004.825470
State	Published - 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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10.1109/TRA.2004.825470

Cite this

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

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.",

keywords = "Exponential observer, Global output feedback, Mobile robot, Tracking and stabilization",

author = "Do, {Khac Duc} and Jiang, {Zhong Ping} and Jie Pan",

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AU - Jiang, Zhong Ping

AU - Pan, Jie

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N2 - 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.

AB - 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.

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KW - Global output feedback

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KW - Tracking and stabilization

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

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