<title>Point stabilization of mobile robots via state space exact feedback linearization</title>

摘要

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, the point stabilization of robots can be easily formulated with Linear Quadratic control theory. As the linear system developed via state space exact feedback linearization is perfectly decoupled into an aggregate of SISO system, the controller design of a mobile robot is decomposed into SISO LQ control. The mobile robot, using the designed LQ control methods, can move to the target point with or without satisfying heading angle constraints.