Velocity-scheduling control for a unicycle mobile robot: Theory and experiments

Davide Buccieri, Damien Perritaz, Philippe Mullhaupt, Zhong-Ping Jiang, Domiique Bonvin

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish (US)
Pages (from-to)451-458
Number of pages8
JournalIEEE Transactions on Robotics
Volume25
Issue number2
DOIs
StatePublished - 2009

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Mobile robots
Scheduling
Robots
Feedback linearization
Experiments
Trajectories

Keywords

  • Differential flatness
  • Feedback linearization
  • Lyapunov techniques
  • Motion planning
  • Nonholonomic robot
  • Stability

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Velocity-scheduling control for a unicycle mobile robot : Theory and experiments. / Buccieri, Davide; Perritaz, Damien; Mullhaupt, Philippe; Jiang, Zhong-Ping; Bonvin, Domiique.

In: IEEE Transactions on Robotics, Vol. 25, No. 2, 2009, p. 451-458.

Research output: Contribution to journalArticle

Buccieri, Davide ; Perritaz, Damien ; Mullhaupt, Philippe ; Jiang, Zhong-Ping ; Bonvin, Domiique. / Velocity-scheduling control for a unicycle mobile robot : Theory and experiments. In: IEEE Transactions on Robotics. 2009 ; Vol. 25, No. 2. pp. 451-458.
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