By Topic

Output feedback controller design of a unicycle-type mobile robot with delayed measurements [Brief Paper]

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Guechi, E.-H. ; UVHC-LAMIH, Univ. Lille Nord de France Le Mont Houy, Valenciennes, France ; Lauber, J. ; Dambrine, M. ; Defoort, M.

This study deals with the trajectory tracking controller design of a wheeled mobile robot subject to delayed measurements. Using the flatness properties of the unicycle-type mobile robot, an output feedback approach based on a non-linear predictor to estimate the state variables is proposed. It enables one to guarantee the exponential stability of the tracking errors. A finite-time observer based on sliding mode theory is applied for the estimation of the delay whose value is assumed to be constant but unknown. The stability property of the closed-loop system with delayed outputs is studied using the Lyapunov theory. Numerical simulations in a realistic environment show the efficiency of the proposed approach.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 5 )