Non-linear Observer-Based Trajectory Tracking Control for A Wheeled Mobile Robot

被引：0
|
作者：
Koo, Jahoo [1 ]
Choi, Seungjoon [1 ]
Ji, Daehyun [1 ]
Won, Sangchul [1 ]
机构：
[1] POSTECH, Dept Elect & Elect Engn, Pohang 790784, South Korea
来源：
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7 | 2008年
关键词：
Mobile robot; Trajectory tracking; IBO;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, non-linear observer-based trajectory tracking control for a wheeled mobile robot is proposed. The non-linear observer is designed for not only an unmeasurable orientation error but current position error. This full-order observer shows robustness to measurement noise. Besides, a controller which exponentially stabilizes the tracking error is used. The non-linear observer with the controller is asymptotically stable by means of persistently exciting (PE) condition and cascaded system thoery. A proof of stability and simulation results are given.
引用
收藏
页码：2240 / 2244
页数：5
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