Motion Control of an Underactuated Wheeled Mobile Robot: a Kinematic Input-Output Linearization Approach

Werther Alexandre de Oliveira Serralheiro¹; Newton Maruyama¹; Eduardo Aoun Tannuri¹

¹ Escola Politécnica da Universidade de São Paulo

doi:10.20906/CPS/COB-2015-1291

Resumo

This work addresses a trajectory tracking controller for the kinematics of an underactuated wheeled mobile robot, in environments without obstacles, using input-output linearization and the Follow the Carrot algorithm. The use of input-output linearization allows the reduction of error dynamics into a linear order system. In this case, the controller is expressed as a 2X2 diagonal gain matrix. Different types of trajectories are devised in order to analyse the feasibility of the method. A specific trajectory consisting of a mix of smooth and sharp curvature sections is utilized in order to investigate the sensitivity of the control system in relation to gain variations. Some novelty is claimed by authors in relation to the use of kinematic input-output linearization combined to the Follow the Carrot algorithm.

Palavras-chave: wheeled mobile robots; trajectory tracking; motion control; nonlinear control system; input-output linearization