Abstract

The problem of trajectory tracking by means of dynamic partial state feedback for the kinematic model of the unicycle mobile robot is addressed and solved. It is shown that the combination of a classical dynamic full information controller with an exponentially stable angular attitude estimator, designed using the immersion and invariance technique, yields a locally asymptotically stable closed-loop system. Numerical simulations complete the paper.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call