KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Output Feedback Tracking Control of Wheeled Mobile Robots with Kinematic Disturbances
Authors	좌동경(Chwa, Dongkyoung)
DOI	https://doi.org/10.5370/KIEE.2016.65.12.2053
Page	pp.2053-2056
ISSN	1975-8359
Keywords	Adaptive output feedback tracking control ; Wheeled mobile robots ; Disturbances
Abstract	In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.

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