Abstract
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 language | English (US) |
|---|---|
| Pages (from-to) | 3852-3857 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| State | Published - 2003 |
| Event | 42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: Dec 9 2003 → Dec 12 2003 |
Keywords
- Exponential observer
- Global output-feedback
- Mobile robot
- Tracking and stabilization
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization