Hostname: page-component-cb9f654ff-9b74x Total loading time: 0 Render date: 2025-08-22T04:01:27.627Z Has data issue: false hasContentIssue false
  • English
  • Français

Mixing input-output pseudolinearization and gain scheduling techniques for stabilization of mobile robots with two independently driven wheels

Published online by Cambridge University Press:  01 September 1997

Jin-Tsong Jeng ,
Ching-Long Shih  and
Tsu-Tian Lee
Jin-Tsong Jeng
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Ching-Long Shih
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Tsu-Tian Lee
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, we propose a two-loop structure to transform and stabilize the kinematic model of a nonholonomic mobile robot with two independently driven wheels. This two-loop structure consists of input-output pseudolinearization and gain scheduling techniques. A comparison with previous methods is included. The main contribution of this paper is to apply a input-output pseudolinearization transformation method and to use an effective pole-assignment strategy for stabilizing a mobile robot with two independently driven wheels. The proposed method has demonstrated superiority over previous methods.

Keywords

Mobile robotInput-output pseudolinearizationGain schedulingLinear parameter-varying system

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 5 , September 1997 , pp. 573 - 582
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable