Point stabilization of mobile robots via state space exact feedback linearization

KyuCheol Park; Hakyoung Chung; Jang G. Lee

doi:10.1117/12.354453

22 July 1999 Point stabilization of mobile robots via state space exact feedback linearization

KyuCheol Park, Hakyoung Chung, Jang G. Lee

Proceedings Volume 3693, Unmanned Ground Vehicle Technology; (1999) https://doi.org/10.1117/12.354453
Event: AeroSense '99, 1999, Orlando, FL, United States

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, the point stabilization of robots can be easily formulated with Linear Quadratic control theory. As the linear system developed via state space exact feedback linearization is perfectly decoupled into an aggregate of SISO system, the controller design of a mobile robot is decomposed into SISO LQ control. The mobile robot, using the designed LQ control methods, can move to the target point with or without satisfying heading angle constraints.

Citation Download Citation

KyuCheol Park, Hakyoung Chung, and Jang G. Lee "Point stabilization of mobile robots via state space exact feedback linearization", Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); https://doi.org/10.1117/12.354453

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available