Title :
A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots
Author :
Do, Khac Duc ; Jiang, Zhong-Ping ; Pan, Jie
Author_Institution :
Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA, Australia
fDate :
6/1/2004 12:00:00 AM
Abstract :
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.
Keywords :
Lyapunov methods; control system synthesis; feedback; mobile robots; position control; stability; time-varying systems; Lyapunov direct method; backstepping technique; control synthesis; coordinate transformation; global output feedback control; simultaneous tracking; stabilization; time varying control; unicycle type mobile robot; Backstepping; Control systems; Lagrangian functions; Mobile robots; Motion control; Nonlinear control systems; Output feedback; Robot control; Torque control; Velocity control; Exponential observer; global output feedback; mobile robot; tracking and stabilization;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2004.825470
