MIXING INPUT-OUTPUT PSEUDOLINEARIZATION AND GAIN SCHEDULING TECHNIQUES FOR STABILIZATION OF MOBILE ROBOTS WITH 2 INDEPENDENTLY DRIVEN WHEELS

In this paper, we propose a two-loop structure to transform and stabil ize the kinematic model of a nonholonomic mobile robot with two indepe ndently driven wheels. This two-loop structure consists of input-outpu t pseudolinearization and gain scheduling techniques. A comparison wit h previous methods is included. The main contribution of this paper is to apply a input-output pseudolinearization transformation method and to use an effective pole-assignment strategy for stabilizing a mobile robot with two independently driven wheels. The proposed method has d emonstrated superiority over previous methods.