Abstract
This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.
| Original language | English (US) |
|---|---|
| Article number | 7042843 |
| Pages (from-to) | 269-279 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Robotics |
| Volume | 31 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 1 2015 |
| Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Keywords
- Control design
- mobile robots
- motion control
- nonlinear control systems
- nonlinear dynamical systems
- nonlinear systems
- robot control