Lee, S.-O. Cho, Y.-J. Hwang-Bo, M. You, B.-J. Oh, S.-R. 2024-01-12T10:10:24Z 2024-01-12T10:10:24Z 2022-03-07 2000-10 0000-0000 https://pubs.kist.re.kr/handle/201004/84324 This paper deals with target tracking control of unicycle type mobile robots. Target tracking function is essential for autonomous robots such as guide robots, security guard robots etc. In the field of mobile robot control, many control schemes for posture stabilization and trajectory tracking problem have been proposed. Target tracking control, however, cannot be achieved using these kinds of control laws. Therefore, a new global asymptotic stable controller for this problem is designed using backstepping method. The stability of the system is proven using the Lyapunov function. Various Simulation results validate the performance and the theoretical analysis. English A stable target-tracking control for unicycle mobile robots Conference 1 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1822 - 1827 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems 1822 1827 US Takamatsu 2000-10-31 IEEE International Conference on Intelligent Robots and Systems 2-s2.0-0034447370