Restriction of Transverse Feedback Linearization for Piecewise Linear Paths | Zendy

Gildeberto de Souza Cardoso | Zendy; Leizer Schnitman | Zendy; José Filho | Zendy; Luiz Carlos Simões Soares Júnior | Zendy

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Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

Author(s) -

Gildeberto de Souza Cardoso,

Leizer Schnitman,

José Filho,

Luiz Carlos Simões Soares Júnior

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/8270793

Subject(s) - piecewise linear function , control theory (sociology) , feedback linearization , linearization , path (computing) , transverse plane , piecewise , controller (irrigation) , convergence (economics) , mobile robot , robot , mathematics , domain (mathematical analysis) , work (physics) , plane (geometry) , computer science , nonlinear system , mathematical analysis , engineering , control (management) , geometry , physics , artificial intelligence , structural engineering , mechanical engineering , agronomy , quantum mechanics , economics , biology , programming language , economic growth

This work presents a path-following controller for a unicycle robot. The main contribution of this paper is to demonstrate the restriction of transverse feedback linearization (TFL) to obtuse angles on piecewise linear paths. This restriction is experimentally demonstrated on a Kobuki mobile robot, where it is possible to observe, as a result of the limitation of the TFL, the convergence to another domain of attraction.

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