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Nonlinear feedback control for a four‐steering‐wheel mobile robot
Author(s) -
Blaimschein P.,
Bremer H.
Publication year - 2000
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.20000801429
Subject(s) - control theory (sociology) , nonlinear system , feedback linearization , linearization , mobile robot , state space , transformation (genetics) , planar , steering wheel , nonlinear control , plane (geometry) , robot , computer science , mathematics , control (management) , engineering , physics , artificial intelligence , geometry , aerospace engineering , biochemistry , statistics , chemistry , computer graphics (images) , quantum mechanics , gene
A mobile robot with four steered and driven wheels moving on planar surfaces under nonholonmic constraints is considered. For this system the equation of motion is derived, which can be reduced to a model of a two‐steering‐wheel vehicle under certain assumptions. For reduced state‐space model a nonlinear state‐space transformation and a nonlinear input transformation is derived so that the model becomes exactly linearized. Additionally to the exact state‐space linearization, the systems for the two positions in the plane and the orientation of the mobile robot are decoupled. These three linear and noninteracting systems can then easily be stabilized by linear control theory.