TY - JOUR
T1 - Trajectory tracking for awheeled mobile robot using a vision based positioning system and an attitude observer
AU - Velasco-Villa, Martin
AU - Aranda-Bricaire, Eduardo
AU - Rodríguez-Cortés, Hugo
AU - González-Sierra, Jaime
PY - 2012
Y1 - 2012
N2 - The trajectory tracking problem for a wheeled mobile robot is addressed and solved by means of a partial state feedback strategy based on measurements from an indoor vision based absolute positioning system. The Cartesian coordinates provided by the localization system are fed to the proposed observer in order to estimate the orientation of the vehicle. It is shown that the combination of a classical dynamic full information controller with an asymptotically convergent vehicle attitude observer, designed using the immersion and invariance technique, yields a locally asymptotically stable closed-loop system. Real time experiments show the performance of the proposed control scheme.
AB - The trajectory tracking problem for a wheeled mobile robot is addressed and solved by means of a partial state feedback strategy based on measurements from an indoor vision based absolute positioning system. The Cartesian coordinates provided by the localization system are fed to the proposed observer in order to estimate the orientation of the vehicle. It is shown that the combination of a classical dynamic full information controller with an asymptotically convergent vehicle attitude observer, designed using the immersion and invariance technique, yields a locally asymptotically stable closed-loop system. Real time experiments show the performance of the proposed control scheme.
KW - Mobile robot
KW - Nonlinear observer
KW - Trajectory tracking
KW - Vision based positioning system
UR - http://www.scopus.com/inward/record.url?scp=84875172717&partnerID=8YFLogxK
U2 - 10.3166/EJC.18.348-355
DO - 10.3166/EJC.18.348-355
M3 - Artículo
AN - SCOPUS:84875172717
SN - 0947-3580
VL - 18
SP - 348
EP - 355
JO - European Journal of Control
JF - European Journal of Control
IS - 4
ER -