Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots
- 16 February 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 31 (2), 269-279
- https://doi.org/10.1109/tro.2015.2395711
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.Keywords
Funding Information
- Natural Sciences and Engineering Research Council of Canada
This publication has 20 references indexed in Scilit:
- Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopterInternational Journal of Control, Automation and Systems, 2009
- Motion control for a wheeled robot following a curvilinear pathJournal of Computer and Systems Sciences International, 2008
- Nonlinear and Adaptive Control with ApplicationsCommunications and Control Engineering, 2008
- WMR control via dynamic feedback linearization: design, implementation, and experimental validationIEEE Transactions on Control Systems Technology, 2002
- Differential Flatness and Absolute Equivalence of Nonlinear Control SystemsSIAM Journal on Control and Optimization, 1998
- Nonlinear Control SystemsCommunications and Control Engineering, 1995
- Feedback linearization and driftless systemsMathematics of Control, Signals, and Systems, 1994
- Implicit representation of parametric curves and surfacesComputer Vision, Graphics, and Image Processing, 1984
- A new method of finding the equation of a rational plane curve from its parametric equationsBulletin of the American Mathematical Society, 1916
- XVIII. On a theory of the syzygetic relations of two rational integral functions, comprising an application to the theory of Sturm’s functions, and that of the greatest algebraical common measurePhilosophical Transactions of the Royal Society of London, 1853