A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots
A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots
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DOI：
10.1109/tra.2004.825470
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发表时间：
2004-06-01
期刊：
影响因子：
--
通讯作者：
Pan, J
中科院分区：
文献类型：
--
作者：
Do, KD;Jiang, ZP;Pan, J
我们提出了一个时变的全局输出反馈控制器，解决了单轮车型移动的机器人的跟踪和稳定同时在扭矩水平。控制器的合成是基于坐标变换，李雅普诺夫直接法，和反推技术。仿真验证了结果。
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.