Global output-feedback path tracking of unicycle-type mobile robots

被引：38

作者：

Do, KD ^{[1
]}

Pan, J ^{[1
]}

机构：

[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2006年 / 22卷 / 02期

关键词：

path tracking; mobile robot; nonlinear control; output-feedback;

D O I：

10.1016/j.rcim.2005.03.002

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

We present an output-feedback controller that forces the output (position and orientation) of a unicycle-type mobile robot to track a predefined path. A coordinate transformation is first derived to cancel the velocity quadratic terms, An observer is then designed to globally exponentially/asymptotically estimate the measured velocities. The controller synthesis is based on Lyapunov's direct method and the backstepping technique. Our proposed controller storks for both internally damped and un-damped cases. Simulations illustrate the soundness of the proposed controller. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：166 / 179

页数：14

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