Title :
Observer Based Trajectory Tracking for a Wheeled Mobile Robot
Author :
Rodríguez-Cortés, Hugo ; Aranda-Bricaire, Eduardo
Author_Institution :
Centre de Investigation y Estudios Avanzados-IPN, San Pedro
Abstract :
The problem of trajectory tracking by means of dynamic partial state feedback for the kinematic model of the unicycle mobile robot is addressed and solved. It is shown that the combination of a classical dynamic full information controller with an exponentially stable angular attitude estimator, designed using the immersion and invariance technique, yields a locally asymptotically stable closed-loop system. Numerical simulations complete the paper.
Keywords :
asymptotic stability; attitude control; closed loop systems; control system synthesis; mobile robots; observers; position control; robot dynamics; robot kinematics; state feedback; variable structure systems; asymptotic stability; classical dynamic full information controller; closed-loop system; dynamic partial state feedback; exponentially stable angular attitude estimator; immersion-invariance technique; kinematic model; observer based trajectory tracking; unicycle mobile robot; variable structure control design; wheeled mobile robot; Cities and towns; Control systems; Kinematics; Linear feedback control systems; Mobile robots; Numerical simulation; State feedback; Trajectory; Velocity control; Wheels;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282706
