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In this paper, a Linear Quadratic control of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization is applied to the point stabilization of a mobile robot with heading angle constraint. Hence, the point stabilization problem can be exactly transformed into the problem of controlling a linear time invariant system. The point stabilization of the mobile robot can be easily formulated by utilizing LQ control theory. The mobile robot, using the designed LQ control methods, can move to the target point with a heading angle constraint in an optimal manner. By the Lyapunov method, the stability and the convergence rate of the controller are evaluated. The performance of designed controller is confirmed by experimental results. |
