Modeling and Control of Car-like Mobile Robot with Feedback Linearization

This article addresses the nonlinear control problem for a nonholonomic car-like mobile robotwhich aremoving on the plane with using constrained state,to achieve a given motion task. Compared with the existing works on the nonholonomic car-like mobile robots, the constraint is emphasized in this work andPhysical dimensions, mass and moment of inertia of mobile robots are taken into account. Input/output feedback linearization method is used to control the robot. The effectiveness of the proposed control law to control of motion is demonstrated by simulation results.

کلیدواژه ها:

Nonholonomic constraints ، Trajectory tracking ، Car-like mobile robot ، Feedback linearization