APPLICATION OF EXACT FEEDBACK LINEARIZATION TO TRAJECTORY TRACKING FOR MOBILE ROBOT

摘要

The transformation from the original form into the chained form of wheeled mobile robot is introduced, and then the chained form is exactly transformed to input/output linear system by exact feedback linearization through dynamic extension. Based on the above,the feedback controller is designed for trajectory tracking of the wheeled mobile robot. Simulation results demonstrate the feasibility of the approach proposed.