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This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in an input delayed omnidirectional mobile robot. The unknown, possibly state-dependent, additive nonlinearity influencing the tracking error dynamics, is modeled as an absolutely uniformly bounded, additive unknown “time-varying disturbance” input...
This article describes the design of an observer-based robust linear output feedback controller for the output reference trajectory tracking tasks in an under-actuated, nonlinear, input-delayed system known as the monocycle, or the rolling penny. The unknown, possibly state-dependent, nonlinearities of the input-output description are modeled as absolutely bounded additive perturbation input signals...
This paper deals with the discrete time control of an omnidirectional mobile robot subject to transport delays. A discrete-time model of the vehicle is obtained by considering an exact discretization of the continuous time model of the robot where the time delay induced by a communication network is considered. The path-tracking problem is addressed by means of a prediction strategy based on the well...
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