Romansy 16 pp 205-212 | Cite as

The Largest Feedback-Linearizable Subsystem of a Class of Wheeled Robots Moving on an Inclined Plane

  • Danielle Sami Nasrallah
  • Jorge Angeles
  • Hannah Michalska
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper reports on the computation of the largest feedback-linearizable subsystem for a class of wheeled robots: the mobile wheeled pendulums (MWP). The control of MWP-class robots is quite challenging due to the non-actuated central body. Linear control techniques applied to this class of robots are restricted to the velocity level and constrain the motion to the neighborhood of the operating point. Thus, considering nonlinear control techniques is a better alternative. For that, an investigation of the dimension of the largest feedback-linearizable subsystem is essential and remains the first step towards the development of nonlinear controllers. To the best of the authors’ knowledge, this is the first attempt to compute the largest feedback linearizable subsystem for mobile wheeled pendulums moving on an inclined plane.


Mobile Robot Central Body Incline Plane Inverted Pendulum Controllability Index 


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Danielle Sami Nasrallah
    • 1
  • Jorge Angeles
    • 1
  • Hannah Michalska
    • 2
  1. 1.Department of Mechanical EngineeringCentre for Intelligent Machines McGill UniversityMontrealCanada
  2. 2.Department of Electrical and Computer EngineeringCentre for Intelligent Machines McGill UniversityMontrealCanada

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