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Mixing input-output pseudolinearization and gain scheduling techniques for stabilization of mobile robots with two independently driven wheels

Published online by Cambridge University Press:  01 September 1997

Jin-Tsong Jeng ,
Ching-Long Shih  and
Tsu-Tian Lee
Jin-Tsong Jeng
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Ching-Long Shih
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
Tsu-Tian Lee
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
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Abstract

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In this paper, we propose a two-loop structure to transform and stabilize the kinematic model of a nonholonomic mobile robot with two independently driven wheels. This two-loop structure consists of input-output pseudolinearization and gain scheduling techniques. A comparison with previous methods is included. The main contribution of this paper is to apply a input-output pseudolinearization transformation method and to use an effective pole-assignment strategy for stabilizing a mobile robot with two independently driven wheels. The proposed method has demonstrated superiority over previous methods.

Keywords

Mobile robotInput-output pseudolinearizationGain schedulingLinear parameter-varying system
Type
Research Article
Information
Robotica , Volume 15 , Issue 5 , September 1997 , pp. 573 - 582
Copyright
© 1997 Cambridge University Press