A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Research output: Contribution to journalArticleResearchpeer-review

Abstract

© Cambridge University Press 2019. SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.
Original languageAmerican English
Pages (from-to)1-17
Number of pages1
JournalRobotica
DOIs
StatePublished - 1 Jan 2019

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Feedback Linearization
Feedback linearization
Experimental Evaluation
Mobile Robot
Mobile robots
Controller
Controllers
Motion
Experimental Results
Vision System
Energy Consumption
Linear Combination
Energy utilization
Real-time
Numerical Simulation
Output
Computer simulation
Experiment
Experiments

Cite this

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title = "A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations",
abstract = "{\circledC} Cambridge University Press 2019. SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.",
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A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations. / Montoya-Villegas, Luis; Moreno-Valenzuela, Javier; Pérez-Alcocer, Ricardo.

In: Robotica, 01.01.2019, p. 1-17.

Research output: Contribution to journalArticleResearchpeer-review

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