Feedback Linearization of the Differentially Driven Mobile Robot: An Experimental Verification

  • Wojciech KowalczykEmail author
  • Krzysztof Kozłowski
Part of the Topics in Intelligent Engineering and Informatics book series (TIEI, volume 8)


In this paper experimental verification of the input-output feedback linearization of differentially driven mobile robot is presented. This technique is especially useful in multi-level formation control because it allows to separate platform motion control from the formation control. It also allows high level controller not to be aware of the type of the robot. The disadvantage of this method is that the orientation cannot be directly controled. In the paper experiments aimed at selecting the appropriate value of so-called hand position that is design parameter for the feedback linearization are presented.


Mobile Robot Hand Position Feedback Linearization Wheel Velocity Wheel Mobile Robot 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Poznań University of TechnologyPoznańPoland

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