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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*
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail:
Javier Moreno-Valenzuela
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail:
Ricardo Pérez-Alcocer
CONACYT-Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail:
*Corresponding author. E-mail:


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.

Copyright © Cambridge University Press 2019 

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