A linear controller for a class of nonlinear time variant systems, the unicycle case

https://doi.org/10.58571/CNCA.AMCA.2025.047

Resumen: This work shows a control design methodology for a class of time-variant nonlinear systems. This proposal uses a kinematic model of the differential robot, and a reference model that describes the desired trajectory as a function of time. Based on the linearization of the system in the error, a linear control is developed, capable of performing accurate tracking of the desired trajectory, as well as the convergence of the position and orientation errors to zero, without resorting to complex models or computationally expensive control strategies.

¿Cómo citar?

Martínez-Velasco, D., Rodríguez-Cortés, H. & Velasco-Villa, M. (2025). A linear controller for a class of nonlinear time variant systems, the unicycle case. Memorias del Congreso Nacional de Control Automático 2025, pp. 274-279. https://doi.org/10.58571/CNCA.AMCA.2025.047

Palabras clave

Linearization, Controlability, Disturbances.

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