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dc.contributor.authorDo, Khac Duc
dc.date.accessioned2017-01-30T15:29:22Z
dc.date.available2017-01-30T15:29:22Z
dc.date.created2015-10-29T04:09:27Z
dc.date.issued2015
dc.identifier.citationDo, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/46809
dc.identifier.doi10.1016/j.robot.2015.07.019
dc.description.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.

dc.publisherElsevier
dc.titleGlobal output-feedback path-following control of unicycle-type mobile robots: A level curve approach
dc.typeJournal Article
dcterms.source.volume74
dcterms.source.number2015
dcterms.source.startPage229
dcterms.source.endPage242
dcterms.source.issn0921-8890
dcterms.source.titleRobotics and Autonomous Systems
curtin.departmentDepartment of Mechanical Engineering
curtin.accessStatusFulltext not available


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