| Title: | OS19-1 Practical Linearization Control of Nonholonomic Unicycles |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 535-538 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS19-1 |
| Author(s): | Lixia Yan, Yingmin Jia |
| Publication Date: | February 13, 2025 |
| Keywords: | Practical linearization, Practical stabilization, Nonholonomic unicycle |
| Abstract: | Due to underactuation, the states of nonholonomic systems cannot be steered toward any direction of the state space. This note takes unicycles as an example and demonstrates a new idea of control design for nonholonomic systems. More precisely, we apply state transformation technique and external dynamic oscillator, and convert an underactuated nonholonomic unicycle into a fully-actuated and linearizable one. A control law, capable of tracking and stabilization uses, is then constructed. The tradeoff therein is that the tracking/stabilization errors can only be steered into the neighborhood of the origin rather than converging to zero. Numerical simulations are carried out to validate the proposed control scheme. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS19/OS19-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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