A Nonlinear Controller for a Differential Driven Robot

Byron Snaider Hernandez Osorio1, Michael Felipe Cifuentes1, Eduardo Giraldo1

  • 1Universidad Tecnológica de Pereira

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Regular Session

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09:10 - 10:30 | Wed 16 Oct | Orinoco | W2-1

Applied control for robots

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Abstract

In this paper, it is presented a nonlinear controller using a multivariable approach for the exact feedback linearization method, applied to the model of a differential driven robot operating into a two-dimensional space. The system shows an excellent performance tracking setpoints from a given path, and this provides a better control behavior than others, like the multivariable PI controllers.

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