@inproceedings{52486a16863b4faf9af687ff99d1fcde,
title = "Attitude observer and trajectory tracking for a group of unicycle-type robots",
abstract = "This paper presents three trajectory tracking control strategies for groups unicycle-type robots based on the leader-followers scheme using an observer to estimate the orientation angle of each robot. The leader robot converges asymptotically to a smooth trajectory while the follower robots are formed in an undirected open-chain configuration at the same time. The control laws are based on a dynamical extension of the kinematic model of each robot. The output functions to be controlled are the midpoint of the wheels axis of each robot. This choice leads to an ill defined control law when the robot is at rest. To avoid such singularities, a complementary control law is enabled momentarily when the linear velocity of the unicycles is close to zero. Numerical simulations complete the paper.",
keywords = "Mobile robots, Nonlinear Observer, Trajectory Tracking, Unicycles",
author = "J. Gonzalez-Sierra and E. Aranda-Bricaire and H. Rodriguez-Cortes",
year = "2012",
doi = "10.1109/ICEEE.2012.6421148",
language = "Ingl{\'e}s",
isbn = "9781467321686",
series = "CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control",
booktitle = "CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control",
note = "2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2012 ; Conference date: 26-09-2012 Through 28-09-2012",
}