International Conference on Robotics and Automation, 2001
In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-typ... more In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-type mobile robot is considered. It is assumed that some of the tracking error coordinates are not measurable. Using a cascaded systems approach we develop full order and reduced order observers, and introduce an observer based controller resulting in K-exponential convergence of the tracking error.
World Scientific Lecture Notes in Complex Systems, 2005
... Page 116. 102 E. Lefeber, RA vd Berg, JE Rooda reader. ... 4.1 need to be incorporated in any... more ... Page 116. 102 E. Lefeber, RA vd Berg, JE Rooda reader. ... 4.1 need to be incorporated in any reasonable model of manufacturing systems. Page 118. 104 E. Lefeber, RA vd Berg, JE Rooda Typical models of manufacturing systems are so-called discrete event mod-els. In Fig. ...
International Conference on Robotics and Automation, 2001
In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-typ... more In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-type mobile robot is considered. It is assumed that some of the tracking error coordinates are not measurable. Using a cascaded systems approach we develop full order and reduced order observers, and introduce an observer based controller resulting in K-exponential convergence of the tracking error.
World Scientific Lecture Notes in Complex Systems, 2005
... Page 116. 102 E. Lefeber, RA vd Berg, JE Rooda reader. ... 4.1 need to be incorporated in any... more ... Page 116. 102 E. Lefeber, RA vd Berg, JE Rooda reader. ... 4.1 need to be incorporated in any reasonable model of manufacturing systems. Page 118. 104 E. Lefeber, RA vd Berg, JE Rooda Typical models of manufacturing systems are so-called discrete event mod-els. In Fig. ...
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