Observer-Based Trajectory Tracking Control for Autonomous Mobile Robot Under Discrete-Time Noisy Measurements

This paper deals with the trajectory tracking problem for autonomous mobile robots under discrete-time measurements, assuming that the available measurements are the position and orientation of the mobile robot. With the mentioned measurements, an implicit discretization of the robust exact filtering differentiator is proposed to estimate the position and velocity of the mobile robot despite the presence of measurement noise while considering the sampling effect. Consequently, an output feedback controller is derived using the estimates from the discrete-time filtering differentiator, guaranteeing the closed-loop system's stability despite noise and discrete measurements. Numerical results illustrate the effectiveness of the proposed scheme.