Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

Gildeberto de Souza Cardoso, Leizer Schnitman, José Valentim dos Santos Filho and Luiz Carlos Simões Soares Júnior

Mathematical Problems in Engineering, 2021, vol. 2021, 1-8

Abstract:

This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:8270793

DOI: 10.1155/2021/8270793

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