Approximate Linearization and Stabilization of Mathematical Model for WMR
Yong Min Jiang, Zaili Dong · Control Engineering of China · 2005
To a MIMO nonlinear system,an approximate linearizing algorithm based on equilibrium manifold is derived and applied to a mobile robot with holonomic constraints. Analysis show that this algorithm can not only realize the system stability,but also decrease the influence caused by the fluctuation with equilibrium point. In addition,it can simplify the synthesis process to a nonlinear system. The simulation results show the efficiency of the method.