Tracking control for a non-holonomic car-like robot using dynamic feedback linearization based on piecewise bilinear models
Tracking control for a non-holonomic car-like robot using dynamic feedback linearization based on piecewise bilinear models
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DOI：
10.1109/fuzz-ieee.2014.6891788
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发表时间：
2014-07
期刊：
影响因子：
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通讯作者：
T. Taniguchi;Luka Eciolaza;M. Sugeno
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文献类型：
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作者：
T. Taniguchi;Luka Eciolaza;M. Sugeno
提出了一种基于分段双线性模型的非完整小车机器人的动态反馈线性化方法。近似模型是完全参数化的。输入输出（I/O）动态反馈线性化的PB控制系统的稳定。我们还提出了一种基于PB模型的小车式机器人跟踪控制方法。虽然该控制器比传统的I/O反馈线性化控制器简单，但基于PB模型的控制性能与传统控制器相同。通过计算机模拟的例子证实了我们的建议的可行性。
We propose a dynamic feedback linearization of a car-like robot as a non-holonomic system with a piecewise bilinear (PB) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. We also apply a method for a tracking control based on PB models to the car-like robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the control 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.