An observer-controller combination for a unicycle mobile robot |
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| Authors: | S P M Noijen P F Lambrechts H Nijmeijer |
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| Affiliation: | 1. Department of Mechanical Engineering , Eindhoven University of Technology , PO Box 513, 5600 MB Eindhoven, The Netherlands;2. The MathWorks BV , PO Box 280, 2800 AG Gouda, The Netherlands |
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| Abstract: | This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot. |
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