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A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Published online by Cambridge University Press:  18 January 2019

Luis Montoya-Villegas Open the ORCID record for Luis Montoya-Villegas [Opens in a new window] ,
Javier Moreno-Valenzuela Open the ORCID record for Javier Moreno-Valenzuela [Opens in a new window]  and
Ricardo Pérez-Alcocer
Luis Montoya-Villegas*
Affiliation:
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: moreno@citedi.mx
Javier Moreno-Valenzuela
Affiliation:
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: moreno@citedi.mx
Ricardo Pérez-Alcocer
Affiliation:
CONACYT-Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: rrperez@citedi.mx
*
*Corresponding author. E-mail: lmontoya@citedi.mx
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Summary

In this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

Keywords

Trajectory trackingMobile robotsFeedback linearizationVision systemReal-time experiments

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Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1073 - 1089
Copyright
Copyright © Cambridge University Press 2019 

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