Nonlinear tracking control of a car-like mobile robot via dynamic feedback linearization

Erfu Yang, Dongbing Gu, Tsutomu Mita, Huosheng Hu

Research output: Chapter in Book/Report/Conference proceedingConference contribution book


Trajectory tracking is an important behaviour for mobile robots. This paper addresses the nonlinear trajectory tracking control problem for a nonholonomic car-like mobile robot with a constrained state. Compared with the existing works on the nonholonomic car-like mobile robots, the state constraint is emphasized in this work. The controllability of the system under the state constraint is checked firstly from the sense of nonlinear geometric control. A nonlinear tracking controller is then achieved by taking advantage of the dynamic feedback linearization technique. Moreover, the obtained controller can be exploited to simultaneously solve both the tracking and regulation problems of the car-like mobile robot with the constrained state. The effectiveness of the proposed control law to trajectory tracking control is demonstrated by simulation results.
Original languageEnglish
Title of host publicationProceedings of the Control 2004 Conference
EditorsM. Necip Sahinkaya, Kevin A. Edge
Number of pages6
Publication statusPublished - Sep 2004
EventUKACC Control Conference 2004 - University of Bath, Bath, United Kingdom
Duration: 6 Sep 20049 Sep 2004


ConferenceUKACC Control Conference 2004
Abbreviated titleControl 2004
Country/TerritoryUnited Kingdom
Internet address


  • nonlinear tracking contro
  • mobile robot
  • feedback linearization
  • constrained-state feedback control

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