Mixing input-output pseudolinearization and gain scheduling techniques for stabilization of mobile robots with two independently driven wheels

Authors:
Jin-Tsong Jeng;Ching-Long Shih;Tsu-Tian Lee
Affiliations:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw;Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw;Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Venue:
Robotica
Year:
1997

Citing 4
Cited 0

Nonlinear control systems: an introduction (2nd ed.)

Nonlinear control systems: an introduction (2nd ed.)
Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift

Systems & Control Letters
Time-varying feedback stabilization of car-like wheeled mobile robots

International Journal of Robotics Research
Linear System Theory and Design

Linear System Theory and Design

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Abstract

In this paper, we propose a two-loop structure to transform and stabilize the kinematic model of a nonholonomic mobile robot with two independently driven wheels. This two-loop structure consists of input-output pseudolinearization and gain scheduling techniques. A comparison with previous methods is included. The main contribution of this paper is to apply a input-output pseudolinearization transformation method and to use an effective pole-assignment strategy for stabilizing a mobile robot with two independently driven wheels. The proposed method has demonstrated superiority over previous methods.