TY - JOUR
T1 - A feedback linearization-based motion controller for a UWMR with experimental evaluations
AU - Montoya-Villegas, Luis
AU - Moreno-Valenzuela, Javier
AU - Pérez-Alcocer, Ricardo
N1 - Publisher Copyright:
© 2019 Cambridge University Press.
PY - 2019/6/1
Y1 - 2019/6/1
N2 - In 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.
AB - In 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.
KW - Feedback linearization
KW - Mobile robots
KW - Real-time experiments
KW - Trajectory tracking
KW - Vision system
UR - http://www.scopus.com/inward/record.url?scp=85060233639&partnerID=8YFLogxK
U2 - 10.1017/S0263574718001443
DO - 10.1017/S0263574718001443
M3 - Artículo
SN - 0263-5747
VL - 37
SP - 1073
EP - 1089
JO - Robotica
JF - Robotica
IS - 6
ER -
