Model Following Control of a Unicycle Mobile Robot via Dynamic Feedback Linearization Based on Piecewise Bilinear Models

被引：0

作者：

Taniguchi, Tadanari ^{[1
]}

Eciolaza, Luka ^{[2
]}

Sugeno, Michio ^{[2
]}

机构：

[1] Tokai Univ, IT Educ Ctr, Hiratsuka, Kanagawa 2591292, Japan

[2] European Ctr Soft Comp, Mieres 33600, Asturias, Spain

来源：

INFORMATION PROCESSING AND MANAGEMENT OF UNCERTAINTY IN KNOWLEDGE-BASED SYSTEMS, PT III | 2014年 / 444卷

基金：

日本学术振兴会;

关键词：

Piecewise bilinear model; dynamic feedback linearization; non-holonomic system; model following control; TRACKING;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose a dynamic feedback linearization of a unicycle as a non-holonomic system with a piecewise bilinear (PB) model. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. We propose a method for nonlinear model following controller to the unicycle robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the tracking performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.

引用

页码：539 / 548

页数：10

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