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    Global output-feedback path-following control of unicycle-type mobile robots: A level curve approach

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    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2015
    Type
    Journal Article
    
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    Citation
    Do, K.D. 2015. Global output-feedback path-following control of unicycle-type mobile robots: A level curve approach. Robotics and Autonomous Systems. 74 (Part A): pp. 229-242.
    Source Title
    Robotics and Autonomous Systems
    DOI
    10.1016/j.robot.2015.07.019
    ISSN
    0921-8890
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/46809
    Collection
    • Curtin Research Publications
    Abstract

    This paper proposes a design of global output-feedback path-following controllers for unicycle-type mobile robots based on the recently developed level curve approach. The controllers are designed based on Lyapunov’s direct and backstepping methods to force the position of the robot to satisfy the equation of the path and to move along the path tangentially at a desired linear velocity. An interlaced observer, which is a reduced-order observer plus an interlaced term, is designed to estimate the robot unmeasured velocities and disturbances. The observer design is based on a coordinate transformation that transforms the robot dynamics to a new form, which does not contain velocity quadratic terms. The interlaced term is determined during the control design to void difficulties due to observer errors and unbounded reference path derivatives. Simulations are included to illustrate the effectiveness of the proposed concept.

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