Simultaneous tracking and stabilization of mobile robots without velocity measurements

Author

Do, K.D. ; Jiang, Z.-P. ; Pan, J.

Author_Institution

Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3852

Abstract

We present a time-varying global output-feedback controller that solves both tracking and stabilization for mobile robots simultaneously at the torque level. A coordinate transformation is first derived to cancel the velocity quadratic terms. A passive observer is then designed to globally exponentially estimate the unmeasured velocities. The controller synthesis is based on Lyapunov´s direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.

Keywords

Lyapunov methods; control system synthesis; feedback; mobile robots; observers; stability; time-varying systems; tracking; Lyapunovs method; backstepping technique; controller synthesis; coordinate transformation; mobile robots; passive observer; stabilization; time varying output feedback controller; tracking; velocity measurements; velocity quadratic terms; Backstepping; Control systems; Lagrangian functions; Mobile robots; Motion control; Robot control; Robot kinematics; Vehicle dynamics; Velocity measurement; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271750

Filename

1271750