Abstract
We propose a dynamic feedback linearization of a unicycle as a non-holonomic system with a piecewise bilinear (PB) model. Inputoutput (I/O) dynamic feedback linearization is applied to stabilize PB control system. We propose a method for nonlinear model following controller to the unicycle robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the tracking performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.
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Taniguchi, T., Eciolaza, L., Sugeno, M. (2014). Model Following Control of a Unicycle Mobile Robot via Dynamic Feedback Linearization Based on Piecewise Bilinear Models. In: Laurent, A., Strauss, O., Bouchon-Meunier, B., Yager, R.R. (eds) Information Processing and Management of Uncertainty in Knowledge-Based Systems. IPMU 2014. Communications in Computer and Information Science, vol 444. Springer, Cham. https://doi.org/10.1007/978-3-319-08852-5_55
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DOI: https://doi.org/10.1007/978-3-319-08852-5_55
Publisher Name: Springer, Cham
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