Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot

Abstract

This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simulation results are presented.