Simultaneous tracking and stabilization of mobile robots without velocity measurements

K. D. Do, Z. P. Jiang, J. Pan

Research output: Contribution to journalConference article


We present a time-varying global output-feedback controller that solves both tracking and stabilization for mobile robots simultaneously at the torque level. A coordinate transformation is first derived to cancel the velocity quadratic terms. A passive observer is then designed to globally exponentially estimate the unmeasured velocities. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.

Original languageEnglish (US)
Pages (from-to)3852-3857
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003



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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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