Tracking Control of A Car-like Robot Based on Piecewise Bilinear Models

Abstract

We propose a dynamic feedback linearization of a car-like robot as a non-holonomic system with a piecewise bilinear (PB) model. We also apply a method for a tracking control based on PB models to the car-like robot. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.