Lie algebra application to mobile robot control: a tutorial

Authors:
Paulo Coelho;Urbano Nunes
Affiliations:
Institute of Systems and Robotics (ISR), Department of Electrical and Computer Engineering, University of Coimbra, Polo II, 3030-290 Coimbra (Portugal) pcoelho@isr.uc.pt;Institute of Systems and Robotics (ISR), Department of Electrical and Computer Engineering, University of Coimbra, Polo II, 3030-290 Coimbra (Portugal) urbano@isr.uc.pt
Venue:
Robotica
Year:
2003

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Abstract

Lie algebra is an area of mathematics that is largely used by electrical engineer students, mainly at post-graduation level in the control area. The purpose of this paper is to illustrate the use of Lie algebra to control nonlinear systems, essentially in the framework of mobile robot control. The study of path following control of a mobile robot using an input-output feedback linearization controller is performed. The effectiveness of the nonlinear controller is illustrated with simulation examples.