Robust cascaded feedback linearizing control of nonholonomic mobile robot

Adel Merabet (1) , Jason Gu (2) , Hichem Arioui (3)

1 Division of Engineering
2 Department of Electrical and Computer Engineering
3 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In this paper, the problem of tracking control of nonholonomic mobile robot is investigated using feedback linearizing control. A cascaded control strategy has been designed to control the real mobile robot (kinematic model and robot dynamics), where the inner loop control for dynamics model is based on inverse dynamics and the outer loop control based on dynamic feedback linearizing control is carried out for kinematics model. The closed loop system is fully linearizable and described by a chain of integrators, and an exponentially stabilizing feedback for the desired trajectory can be designed for pole placement. The controller deals with unknown disturbance through a compensator carried out from the dynamics controller. The disturbance compensator contains an integral action, which eliminates the steady errors and enhances the robustness of the control scheme. Simulations are carried out for a nonholonomic mobile robot to verify the performance of the proposed control scheme.

Mots clés: Cascaded control; Mobile robot; Nonholonomic constraint; Robustness

Adel Merabet, Jason Gu, Hichem Arioui. Robust cascaded feedback linearizing control of nonholonomic mobile robot. 23rd Canadian Conference on Electrical and Computer Engineering (CCECE 2010), May 2010, Calgary, AB, Canada. (elec. proc), ⟨10.1109/CCECE.2010.5575198⟩. ⟨hal-00869462⟩