{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T12:20:25Z","timestamp":1762431625466,"version":"3.40.5"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2019,1,18]],"date-time":"2019-01-18T00:00:00Z","timestamp":1547769600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,6]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>In this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.<\/jats:p>","DOI":"10.1017\/s0263574718001443","type":"journal-article","created":{"date-parts":[[2019,1,18]],"date-time":"2019-01-18T08:52:01Z","timestamp":1547801521000},"page":"1073-1089","source":"Crossref","is-referenced-by-count":17,"title":["A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations"],"prefix":"10.1017","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6301-9249","authenticated-orcid":false,"given":"Luis","family":"Montoya-Villegas","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0670-5979","authenticated-orcid":false,"given":"Javier","family":"Moreno-Valenzuela","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"P\u00e9rez-Alcocer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,1,18]]},"reference":[{"key":"S0263574718001443_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-016-2658-8"},{"key":"S0263574718001443_ref25","unstructured":"25. M. Egerstedt , Motion Planning and Control of Mobile Robots Ph.D. Thesis (Royal Institute of Technology, Stockholm, Sweden, 2000)."},{"key":"S0263574718001443_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)40028-0"},{"volume-title":"Nonlinear Systems","year":"2002","author":"Khalil","key":"S0263574718001443_ref27"},{"key":"S0263574718001443_ref14","unstructured":"14. X. Li , Z. Wang , X. Chen , J. Zhu and Q. Chen , \u201cAdaptive Control of Unicycle-type Mobile Robots with Longitudinal Slippage,\u201d Proceedings of American Control Conference (ACC), Boston (2016) pp. 1637\u20131642."},{"key":"S0263574718001443_ref9","unstructured":"9. D. Diaz and R. Kelly , \u201cOn Modeling and Position Tracking Control of the Generalized Differential Driven Wheeled Mobile Robot,\u201d Proceedings of the IEEE International Conference on Automatica (ICA\u2013ACCA), Curico (2016) pp. 1\u20136."},{"key":"S0263574718001443_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2375812"},{"key":"S0263574718001443_ref10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1002\/rnc.3067","article-title":"Visual servoing of mobile robots for posture stabilization: From theory to experiments","volume":"25","author":"Zhang","year":"2014","journal-title":"Int. J. Robust Nonlin"},{"key":"S0263574718001443_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005460"},{"key":"S0263574718001443_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-58319-8"},{"key":"S0263574718001443_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2015.07.039"},{"key":"S0263574718001443_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2014.07.036"},{"volume-title":"Adaptive Control: Stability, Convergence, and Robustness","year":"1989","author":"Sastry","key":"S0263574718001443_ref29"},{"key":"S0263574718001443_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2016.10.039"},{"key":"S0263574718001443_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2015.07.009"},{"volume-title":"Applied Nonlinear Control","year":"1991","author":"Slotine","key":"S0263574718001443_ref28"},{"key":"S0263574718001443_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s12046-015-0384-4"},{"key":"S0263574718001443_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0177-2"},{"key":"S0263574718001443_ref13","unstructured":"13. S. Millan and F. Valenciaga , \u201cA Comparative Study of Two Trajectory Tracking Controllers for an Autonomous Robot Vehicle,\u201d Proceedings of XVI Workshop on Information Processing and Control (RPIC), C\u00f3rdoba (2015) pp. 1\u20136."},{"key":"S0263574718001443_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2551-x"},{"key":"S0263574718001443_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0142331214537294"},{"key":"S0263574718001443_ref15","unstructured":"15. S. Bla\u017ei\u010d , \u201cTwo Approaches for Nonlinear Control of Wheeled Mobile Robots,\u201d Proceedings of the IEEE 13th International Conference on Control & Automation (ICCA), Ohrid (2017) pp. 946\u2013951."},{"key":"S0263574718001443_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-016-9543-6"},{"key":"S0263574718001443_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0142331215627003"},{"volume-title":"Nonlinear Control of Wheeled Mobile Robots","year":"2001","author":"Dixon","key":"S0263574718001443_ref20"},{"key":"S0263574718001443_ref21","first-page":"121","volume-title":"Recent Trends in Mobile Robots","author":"Canudas de Wit","year":"1993"},{"key":"S0263574718001443_ref24","unstructured":"24. I. Anvari , Non-holonomic Differential Drive Mobile Robot Control & Design: Critical Dynamics and Coupling Constraints M.Sc. Thesis (Arizona State University, Tempe, USA, 2013)."},{"key":"S0263574718001443_ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574717000637"},{"key":"S0263574718001443_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(97)00119-9"},{"key":"S0263574718001443_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.cnsns.2012.06.003"},{"key":"S0263574718001443_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2007.05.006"},{"key":"S0263574718001443_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-015-0349-x"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718001443","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,22]],"date-time":"2020-11-22T21:57:04Z","timestamp":1606082224000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718001443\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,1,18]]},"references-count":32,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,6]]}},"alternative-id":["S0263574718001443"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718001443","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2019,1,18]]}}}