@inproceedings{f8c8fb6a51ca4e57878bd5325d43b1a8,
title = "Trajectory tracking for a group of unicycle-type robots using an attitude observer",
abstract = "The trajectory tracking problem for a group of unicycle-type robots is addressed and solved by means of a partial state feedback strategy based on the leader-followers scheme using an observer to estimate the orientation angle of each mobile robot. The control law is based on an extended kinematic model where the output function to be controlled is the mid-point 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 a singularity, a complementary control law is enabled when the linear velocity of each robot is close to zero. It is shown that the combination of a classical dynamic full information controller with an exponentially convergent vehicle attitude observer yields an asymptotically stable closed-loop system. Real-time experiments show the performance of the proposed control scheme.",
keywords = "Mobile Robotics, Multi-Agent Systems, Observer Design, Trajectory Tracking",
author = "J. Gonzalez-Sierra and E. Aranda-Bricaire and H. Rodriguez-Cortes and J. Santiaguillo-Salinas",
note = "Funding Information: ⋆ This work was supported by CONACyT, Mexico, through scholarships No. 219257 and 243226; 9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013 ; Conference date: 04-09-2013 Through 06-09-2013",
year = "2013",
doi = "10.3182/20130904-3-FR-2041.00164",
language = "Ingl{\'e}s",
isbn = "9783902823472",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "23 PART 1",
pages = "676--681",
booktitle = "9th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2013 - Proceedings",
address = "Austria",
edition = "23 PART 1",
}