A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots

被引：117

作者：

Do, KD ^{[1
]}

Jiang, ZP

Pan, J

机构：

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

[2] Polytech Univ, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 03期

关键词：

exponential observer; global output feedback; mobile robot; tracking and stabilization;

D O I：

10.1109/TRA.2004.825470

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a time-varying global output-feedback controller that solves both tracking and stabilization for unicycle-type mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov's direct method, and backstepping technique. Simulations demonstrate the result.

引用

页码：589 / 594

页数：6

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