Transverse Feedback Linearization of Multi-Input Systems

2006 ◽  
Author(s):  
C. Nielsen ◽  
M. Maggiore
Keyword(s):  
Feedback Linearization ◽  
Transverse Feedback Linearization

scholarly journals Restriction of Transverse Feedback Linearization for Piecewise Linear Paths

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gildeberto de Souza Cardoso ◽  
Leizer Schnitman ◽  
José Valentim dos Santos Filho ◽  
Luiz Carlos Simões Soares Júnior
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Piecewise Linear ◽  
Domain Of Attraction ◽  
Path Following ◽  
Transverse Feedback Linearization

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.

On Local Transverse Feedback Linearization

2008 ◽  
Vol 47 (5) ◽  
pp. 2227-2250 ◽  
Author(s):  
Christopher Nielsen ◽  
Manfredi Maggiore
Keyword(s):  
Feedback Linearization ◽  
Transverse Feedback Linearization

scholarly journals Local nested transverse feedback linearization

2015 ◽  
Vol 27 (4) ◽  
pp. 493-522
Author(s):  
Alireza Doosthoseini ◽  
Christopher Nielsen
Keyword(s):  
Feedback Linearization ◽  
Transverse Feedback Linearization
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