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Lie algebra application to mobile robot control: a tutorial

Published online by Cambridge University Press:  02 March 2021

Paulo Coelho  and
Urbano Nunes
Paulo Coelho*
Affiliation:
Institute of Systems and Robotics (ISR), Department of Electrical and Computer Engineering, University of Coimbra, Polo II, 3030-290Coimbra (Portugal)
Urbano Nunes*
Affiliation:
Institute of Systems and Robotics (ISR), Department of Electrical and Computer Engineering, University of Coimbra, Polo II, 3030-290Coimbra (Portugal)
*
Email: pcoelho@isr.uc.pt
Email: urbano@isr.uc.pt
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Summary

Lie algebra is an area of mathematics that is largely used by electrical engineer students, mainly at post-graduation level in the control area. The purpose of this paper is to illustrate the use of Lie algebra to control nonlinear systems, essentially in the framework of mobile robot control. The study of path following control of a mobile robot using an input-output feedback linearization controller is performed. The effectiveness of the nonlinear controller is illustrated with simulation examples.

Keywords

Lie algebraInput-output linearizationNonlinear systemsMobile robots
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 483 - 493
Copyright
Copyright © Cambridge University Press 2003

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