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
收藏
页码：166 / 179
页数：14
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