A Hybrid Systems Approach with Input-Output Linearization for Automotive Parking Control of a Nonholonomic Mobile Robot
Tobias Rainer Schäfle, Akihito Tokui, Naoki Uchiyama · 2018
This paper presents a hybrid systems approach to garage parking of a differential drive mobile robot. The proposed system consists of three system states, in which each system state converges to its desired control value and then switches to the next state. Two system states use input-output linearization (I/O- linearization) for multiple input multiple output (MIMO) systems to conduct exact linearization of the plant, which can then be controlled by a linear controller. Simulation and experimental results show that the robot converges to its desired states and safely parks at the final position in a reasonable time.