Design of a tracking controller-observer system for a mobile robot

The paper presents a model-based tracking control strategy for a mobile robot based on a controller design that uses only position and orientation measurement. This model-based tracking strategy is the programmed motion tracking originally developed under the assumption that the foil state of a system is available for measurement. To meet practical requirements that not all state variables are accessible, we develop the programmed motion tracking for a mobile robot using only position and orientation measurement. Our approach exploits a structure of a control dynamics of the mobile robot.