Velocity-scheduling control for a unicycle mobile robot: theory and experiments

Authors:
Davide Buccieri;Damien Perritaz;Philippe Mullhaupt;Zhong-Ping Jiang;Dominique Bonvin
Affiliations:
Laboratoire d’Automatique, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;Laboratoire d’Automatique, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;Laboratoire d’Automatique, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;Department of Electrical and Computer Engineering, Polytechnic Institute of New York University, Brooklyn, NY;Laboratoire d’Automatique, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotational axis. The proposed dynamic extension acts as a velocity scheduler that specifies, at each time instant, the ideal translational velocity that the robot should have. By using a higher-order extension, both the magnitude and the orientation of the velocity vector can be generated, which introduces robustness in the control scheme. Stability for both asymptotic convergence to a point and trajectory tracking is proven. The theoretical results are illustrated first in simulation, and then experimentally on the autonomous mobile robot Fouzy III.