Share Email Print
cover

Proceedings Paper

Point stabilization of mobile robots via state space exact feedback linearization
Author(s): KyuCheol Park; Hakyoung Chung; Jang G. Lee
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

In this paper, the point stabilization of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization has not been possible for the point stabilization of mobile robots due to the restricted mobility caused by nonholonomic constraints. Under our proposed coordinates, however, the point stabilization problem can be exactly transformed into the problem of controlling a linear time invariant system. Thus, the point stabilization of robots can be easily formulated with Linear Quadratic control theory. As the linear system developed via state space exact feedback linearization is perfectly decoupled into an aggregate of SISO system, the controller design of a mobile robot is decomposed into SISO LQ control. The mobile robot, using the designed LQ control methods, can move to the target point with or without satisfying heading angle constraints.

Paper Details

Date Published: 22 July 1999
PDF: 11 pages
Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354453
Show Author Affiliations
KyuCheol Park, Seoul National Univ. (South Korea)
Hakyoung Chung, Seoul National Univ. of Technology (South Korea)
Jang G. Lee, Virginia Polytechnic Institute and State Univ. (United States)


Published in SPIE Proceedings Vol. 3693:
Unmanned Ground Vehicle Technology
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

© SPIE. Terms of Use
Back to Top