An observer-controller combination for a unicycle mobile robot
نویسندگان
چکیده
This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot.
منابع مشابه
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