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Title: Two observer-based tracking algorithms for a unicycle mobile robot

Creator:

Jakubiak, Jacek ; Lefeber, Erjen ; Tchoń, Krzysztof ; Nijmeijer, Henk

Date:

2002

Resource Type:

artykuł

Contributor:

Korbicz, Józef - red. ; Uciński, Dariusz - red.

Group publication title:

AMCS, volume 12 (2002)

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 ?-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Identifier:

oai:zbc.uz.zgora.pl:58955

Pages:

513-522

Source:

AMCS, volume 12, number 4 (2002) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

observer trajectory tracking mobile robots

Object collections:

Last modified:

Sep 3, 2021

In our library since:

Sep 3, 2021

Number of object content hits:

35

All available object's versions:

https://www.zbc.uz.zgora.pl/publication/65754

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Edition name Date
Two observer-based tracking algorithms for a unicycle mobile robot Sep 3, 2021

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