文章基本信息

标题：Two observer-based tracking algorithms for a unicycle mobile robot
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作者：Janusz Jakubiak ; Erjen Lefeber ; Krzysztof Tchoń 等
期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2002
卷号：12
期号：4
出版社：De Gruyter Open
摘要：A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the К -exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations
关键词：observer; trajectory tracking; mobile robot