| Issue |
MATEC Web Conf.
Volume 129, 2017
International Conference on Modern Trends in Manufacturing Technologies and Equipment (ICMTMTE 2017)
|
|
|---|---|---|
| Article Number | 03029 | |
| Number of page(s) | 4 | |
| Section | Modelling of Technical Systems. CAD/CAM/CAE Systems | |
| DOI | https://doi.org/10.1051/matecconf/201712903029 | |
| Published online | 07 November 2017 | |
Feedback linearized trajectory-tracking control of a mobile robot
1
Federal Research Centre “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russian Federation
2
Sevastopol State University, 299053 Sevastopol, Russian Federation
* Corresponding author: kabanovaleksey@gmail.com
This paper is devoted to the designing of a trajectory-tracking control system for a unicycle-type mobile robot. Synthesis of the trajectory control law is based on the feedback linearization method and a canonical similarity transformation of nonlinear affine system in state-dependent coefficient form. The result of experimental test of the trajectory control system for mobile robot Rover5 is presented.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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