transverse feedback linearization
Recently Published Documents


TOTAL DOCUMENTS

23
(FIVE YEARS 4)

H-INDEX

6
(FIVE YEARS 0)

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gildeberto de Souza Cardoso ◽  
Leizer Schnitman ◽  
José Valentim dos Santos Filho ◽  
Luiz Carlos Simões Soares Júnior

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.


Sign in / Sign up

Export Citation Format

Share Document