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

Abstract

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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.

How to cite

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Jakubiak, 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 -

References

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