Observer-Based Trajectory Tracking Control for a Wheeled Mobile Robot

被引：0
|
作者：
Koo, Jahoo [1 ]
Choi, Seungjoon
Won, Sangchul [1 ]
机构：
[1] POSTECH, Dept Elect & Elect Engn, Pohang 790784, South Korea
来源：
ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3 | 2009年
关键词：
SYSTEMS;
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, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear 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 stabilize the tracking error is considered. The controller-observer combination scheme globally asymptotically stabilize the system without PE condition of angular velocity,. The proof of stability is shown by means of cascaded system theory. The simulation results are given.
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页码：1644 / 1649
页数：6
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