A discrete feedback linearization method for path following for wheeled robots

Abstract

This work deals with the design of a feedback control law for a mobile robot to follow a prescribed path. We present an original method based on a discrete linearization technique which allows to use some results from linear control analysis. By introducing piecewise constant variables we construct a new system close to the original one. We show that this new system can be put under normal form and we deduce a global stabilizing control law for it. Finally. we prove that this control law can be used to stabilize the original system as well. The method is first applied to the kinematic model of a unicycle. then we propose a dynamic extension. Finally. we present some simulation results for both models.