A feedback linearization-based motion controller for a UWMR with experimental evaluations

Luis Montoya-Villegas*, Javier Moreno-Valenzuela, Ricardo Pérez-Alcocer

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


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.

Original languageEnglish
Pages (from-to)1073-1089
Number of pages17
Issue number6
StatePublished - 1 Jun 2019
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2019 Cambridge University Press.


  • Feedback linearization
  • Mobile robots
  • Real-time experiments
  • Trajectory tracking
  • Vision system


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