A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots

Khac Duc Do, Zhong-Ping Jiang, Jie Pan

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish (US)
Pages (from-to)589-594
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Volume20
Issue number3
DOIs
StatePublished - Jun 2004

Fingerprint

Mobile robots
Stabilization
Feedback
Controllers
Backstepping
Torque

Keywords

  • Exponential observer
  • Global output feedback
  • Mobile robot
  • Tracking and stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots. / Do, Khac Duc; Jiang, Zhong-Ping; Pan, Jie.

In: IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, 06.2004, p. 589-594.

Research output: Contribution to journalArticle

@article{07c4e9dd98c34af0ad80122c26bfc789,
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 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.",
keywords = "Exponential observer, Global output feedback, Mobile robot, Tracking and stabilization",
author = "Do, {Khac Duc} and Zhong-Ping Jiang and Jie Pan",
year = "2004",
month = "6",
doi = "10.1109/TRA.2004.825470",
language = "English (US)",
volume = "20",
pages = "589--594",
journal = "IEEE Transactions on Robotics and Automation",
issn = "1042-296X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",

}

TY - JOUR

T1 - A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots

AU - Do, Khac Duc

AU - Jiang, Zhong-Ping

AU - Pan, Jie

PY - 2004/6

Y1 - 2004/6

N2 - 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.

AB - 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.

KW - Exponential observer

KW - Global output feedback

KW - Mobile robot

KW - Tracking and stabilization

UR - http://www.scopus.com/inward/record.url?scp=2942704225&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=2942704225&partnerID=8YFLogxK

U2 - 10.1109/TRA.2004.825470

DO - 10.1109/TRA.2004.825470

M3 - Article

VL - 20

SP - 589

EP - 594

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

SN - 1042-296X

IS - 3

ER -