Global output-feedback path tracking of unicycle-type mobile robots

摘要

We present an output-feedback controller that forces the output (position and orientation) of a unicycle-type mobile robot to track a predefined path. A coordinate transformation is first derived to cancel the velocity quadratic terms. An observer is then designed to globally exponentially/asymptotically estimate the unmeasured velocities. The controller synthesis is based on Lyapunov's direct method and the backstepping technique. Our proposed controller works for both internally damped and undamped cases. Simulations illustrate the soundness of the proposed controller.