This chapter looks at designing nonlinear controllers in order to constrain the state vector of the robot to follow a fixed forward path or to remain within a determined area of its workspace. It presents one of the more representative theoretical methods: feedback linearization. Feedback linearization leads to the problem of controlling a system, which is composed of several integrator chains decoupled from one another. Before giving the principles of feedback linearization, the chapter considers an introductory example. Sliding mode is a set of control methods that belong to the family of feedback linearization techniques. A mechanical system is controlled by forces or torques and obeys a dynamic system that depends on numerous little‐known coefficients. It is possible to switch from a dynamic model to a kinematic model using a high‐gain controller.
Feedback Linearization
Mobile Robotics ; 65-131
30.09.2019
67 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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