Byron Snaider Hernandez Osorio1, Michael Felipe Cifuentes1, Eduardo Giraldo1
09:30 - 09:50 | Wed 16 Oct | Orinoco | W2-1-2
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.