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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 paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance...
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