Point stabilization of mobile robots via state space exact feedback linearization

Author

Park, KyuCheol ; Chung, Hakyoung ; Lee, Jang Gyu

Author_Institution

Sch. of Electr. Eng., Seoul Nat. Univ., South Korea

Volume

4

fYear

1999

fDate

1999

Firstpage

2626

Abstract

In this paper, the point stabilization of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization has not been possible for the point stabilization of mobile robots due to the restricted mobility caused by nonholonomic constraints. Under our proposed coordinates, however, the point stabilization problem can be exactly transformed into the problem of controlling a linear time invariant system. Thus, using well-established linear control theory, the point stabilization of robots can be easily formulated

Keywords

feedback; linearisation techniques; mobile robots; stability; state-space methods; LTI system; linear time invariant system; mobile robots; nonholonomic constraints; point stabilization; restricted mobility; state space exact feedback linearization; Automatic control; Control systems; Linear feedback control systems; Mobile robots; Orbital robotics; Robot control; Robot kinematics; Space technology; State feedback; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.773993

Filename

773993