A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots

Duc Do; Z-P. Jiang; Jie Pan

doi:10.1109/TRA.2004.825470

A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots

Duc Do, Z-P. Jiang, Jie Pan

Research output: Contribution to journal › Article › peer-review

149 Citations (Scopus)

Abstract

We present a time-varying global output-feedback controllerthat solves both tracking and stabilization for unicycle-type mobile robotssimultaneously at the torque level. The controller synthesis is based on acoordinate transformation, Lyapunov’s direct method, and backsteppingtechnique. Simulations demonstrate the result.

Original language	English
Pages (from-to)	589-594
Journal	IEEE Transactions on Robotics
Volume	20
Issue number	3
DOIs	https://doi.org/10.1109/TRA.2004.825470
Publication status	Published - 2004

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10.1109/TRA.2004.825470

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title = "A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots",

abstract = "We present a time-varying global output-feedback controllerthat solves both tracking and stabilization for unicycle-type mobile robotssimultaneously at the torque level. The controller synthesis is based on acoordinate transformation, Lyapunov{\textquoteright}s direct method, and backsteppingtechnique. Simulations demonstrate the result.",

author = "Duc Do and Z-P. Jiang and Jie Pan",

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AU - Jiang, Z-P.

AU - Pan, Jie

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N2 - We present a time-varying global output-feedback controllerthat solves both tracking and stabilization for unicycle-type mobile robotssimultaneously at the torque level. The controller synthesis is based on acoordinate transformation, Lyapunov’s direct method, and backsteppingtechnique. Simulations demonstrate the result.

AB - We present a time-varying global output-feedback controllerthat solves both tracking and stabilization for unicycle-type mobile robotssimultaneously at the torque level. The controller synthesis is based on acoordinate transformation, Lyapunov’s direct method, and backsteppingtechnique. Simulations demonstrate the result.

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DO - 10.1109/TRA.2004.825470

M3 - Article

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JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

IS - 3

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A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots

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