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 journalArticle

125 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 languageEnglish
Pages (from-to)589-594
JournalIEEE Transactions on Robotics
Volume20
Issue number3
DOIs
Publication statusPublished - 2004

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