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Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

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5 Author(s)
Buccieri, D. ; Lab. d''Autom., Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland ; Perritaz, D. ; Mullhaupt, P. ; Zhong-Ping Jiang
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Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotational axis. The proposed dynamic extension acts as a velocity scheduler that specifies, at each time instant, the ideal translational velocity that the robot should have. By using a higher-order extension, both the magnitude and the orientation of the velocity vector can be generated, which introduces robustness in the control scheme. Stability for both asymptotic convergence to a point and trajectory tracking is proven. The theoretical results are illustrated first in simulation, and then experimentally on the autonomous mobile robot Fouzy III.

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Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 2 )