A Global output-feedback controller for simultaneous tracking and stabilization of mobile robots
Tác giả: Đỗ Khắc Đức, Z.P. Jiang, J. Pan
Nhà xuất bản: IEEE Transactions on Robotics and Automation, Vol.20, No. 3 pp. 589-584
We present a time-varying global output-feedback controller that solves both tracking and stabilization for unicycle-type mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov’s direct method, and backstepping technique. Simulations demonstrate the result.