OTHER
A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots
K.D. Do, Zhong‐Ping Jiang, J. Pan
- Year
- 2004
- Citations
- 164
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
BacksteppingControl theory (sociology)Mobile robotController (irrigation)Computer scienceLyapunov functionRobotTracking (education)Transformation (genetics)Control engineering
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