Tracking control for a non-holonomic car-like robot using dynamic feedback linearization based on piecewise bilinear models

摘要

We propose a dynamic feedback linearization of a car-like robot as a non-holonomic system with a piecewise bilinear (PB) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. We also apply a method for a tracking control based on PB models to the car-like robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.