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• W1573662012 abstract "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." @default.
• W1573662012 created "2016-06-24" @default.
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• W1573662012 date "2012-01-01" @default.
• W1573662012 modified "2023-09-25" @default.
• W1573662012 title "Output feedback controller design of a unicycle-type mobile robot with delayed measurements" @default.
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• W1573662012 doi "https://doi.org/10.1049/iet-cta.2010.0591" @default.
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