Trajectory Tracking Controls for Non-holonomic Systems Using Dynamic Feedback Linearization Based on Piecewise Multi-Linear Models
نویسندگان
چکیده
This paper proposes a trajectory tracking control for non-holonomic systems using dynamic feedback linearization based on piecewise multi-linear (PML) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PML model is the same as the conventional one. The proposed methods are applied to a tricycle robot and a quadrotor helicopter. Examples are shown to confirm the feasibility of our proposals by computer simulations.
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