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Point stabilization of mobile robots via state space exact feedback linearization

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3 Author(s)
KyuCheol Park ; Sch. of Electr. Eng., Seoul Nat. Univ., South Korea ; Hakyoung Chung ; Jang Gyu Lee

In this paper, the point stabilization of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization has not been possible for the point stabilization of mobile robots due to the restricted mobility caused by nonholonomic constraints. Under our proposed coordinates, however, the point stabilization problem can be exactly transformed into the problem of controlling a linear time invariant system. Thus, using well-established linear control theory, the point stabilization of robots can be easily formulated

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999