In this paper, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear observer is designed for not only an unmeasurable orientation error but current position error. This full-order observer shows robustness to measurement noise. Besides, a controller which exponentially stabilize the tracking error is considered. The controller-observer combination scheme globally asymptotically stabilize the system without PE condition of angular velocity, ωr. The proof of stability is shown by means of cascaded system theory. The simulation results are given.
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机译：本文提出了一种基于非线性观测器的轮式移动机器人的轨迹跟踪控制。非线性观察者不仅设计不可衡量的方向误差，而是必不可少的。这种全阶观察者显示了对测量噪声的鲁棒性。此外，考虑指数稳定跟踪误差的控制器。控制器 - 观察者组合方案全局渐近地稳定系统，无需PE速度的PE条件，ω R 。级联系统理论示出了稳定性证明。给出了仿真结果。
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