A Global Output-Feedback Controller for Simultaneous Tracking and Stabilization of Unicycle-Type Mobile Robots

7 June 2004

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation

Vol. 20 (3) , 589-594
https://doi.org/10.1109/tra.2004.825470

Abstract

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.

Keywords

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