Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems....

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Bibliographic Details
Main Authors: Javier Moreno, Emanuel Slawiñski, Fernando A. Chicaiza, Francisco G. Rossomando, Vicente Mut, Marco A. Morán
Format: Article
Language:English
Published: MDPI AG 2023-10-01
Series:Machines
Subjects:
skid-steering mobile robot
motion control
tracking error
input–output feedback linearization
nonlinear systems
Online Access:https://www.mdpi.com/2075-1702/11/11/988

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