# Two observer-based tracking algorithms for a unicycle mobile robot

Janusz Jakubiak; Erjen Lefeber; Krzysztof Tchoń; Henk Nijmeijer

International Journal of Applied Mathematics and Computer Science (2002)

- Volume: 12, Issue: 4, page 513-522
- ISSN: 1641-876X

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topJakubiak, Janusz, et al. "Two observer-based tracking algorithms for a unicycle mobile robot." International Journal of Applied Mathematics and Computer Science 12.4 (2002): 513-522. <http://eudml.org/doc/207606>.

@article{Jakubiak2002,

abstract = {A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.},

author = {Jakubiak, Janusz, Lefeber, Erjen, Tchoń, Krzysztof, Nijmeijer, Henk},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {mobile robot; observer; trajectory tracking; exponential stability; tracking; robot; pursuit navigation; cascaded systems},

language = {eng},

number = {4},

pages = {513-522},

title = {Two observer-based tracking algorithms for a unicycle mobile robot},

url = {http://eudml.org/doc/207606},

volume = {12},

year = {2002},

}

TY - JOUR

AU - Jakubiak, Janusz

AU - Lefeber, Erjen

AU - Tchoń, Krzysztof

AU - Nijmeijer, Henk

TI - Two observer-based tracking algorithms for a unicycle mobile robot

JO - International Journal of Applied Mathematics and Computer Science

PY - 2002

VL - 12

IS - 4

SP - 513

EP - 522

AB - A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

LA - eng

KW - mobile robot; observer; trajectory tracking; exponential stability; tracking; robot; pursuit navigation; cascaded systems

UR - http://eudml.org/doc/207606

ER -

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