An observer-controller combination for a unicycle mobile robot

DOI10.1080/00207170500036050MaRDI QIDQ4681998zbMATH OpenOpenAlexFDO

Authors S. P. M. Noijen, P. F. Lambrechts, H. Nijmeijer

Publication date 9 June 2005

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207170500036050

zbMATH Keywords

observerstability analysistrajectory trackingunicycle mobile robot

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A path following control for unicycle robots
• Exponential stabilization of nonholonomic chained systems
• Linear controllers for exponential tracking of systems in chained-form
• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
• Stabilization of trajectories for systems with nonholonomic constraints
• The Lyapunov-Malkin theorem and stabilization of the unicycle with rider
• Theory of robot control
• Tracking control of mobile robots: A case study in backstepping

Cited in

(18)

• Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking
• Orientation-error observer-based tracking control of nonholonomic mobile robots
• A robust smooth controller for a unicycle-like robot
• On the attitude estimation of nonholonomic wheeled mobile robots
• Formation tracking for a group of differential-drive mobile robots using an attitude observer
• Observer design via immersion and invariance for vision-based leader-follower formation control
• Robust observer-controller compensator design using the loop shaping design procedure and the algebraic method
• Trajectory tracking of wheeled mobile robots using only Cartesian position measurements
• A new geometric trajectory tracking controller for the unicycle mobile robot
• Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements
• scientific article; zbMATH DE number 1931050 (Why is no real title available?)
• Observer-based coverage control of unicycle mobile robot network in dynamic environment
• Trajectory tracking control of nonholonomic wheeled mobile robots using only measurements for position and velocity
• A velocity observer design for tracking task-based motions of unicycle type mobile robots
• Output feedback trajectory tracking control of wheeled mobile robots with position measurements
• Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands
• The unicycle in presence of a single disturbance: observability properties
• Trajectory tracking for a wheeled mobile robot using a vision based positioning system and an attitude observer

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