چكيده به لاتين
In this thesis, we tried to control mobile robots with rigid and elastic links with the aim of path tracking by feedback linearization approach which is one of the most utilizing methods in nonlinear control topics. The bold characteristic of this method in comparison with others is deriving an equal linear system from nonlinear one. Linear control has lots of advantages which deserve to be mentioned like variety of techniques and being easy to apply which is not achievable in nonlinear control.
The first step to control a system is deriving and solving Its equations of motion. Newton-Euler, Lagrange multipliers, Kane's dynamics, Gibbs-apple, etc are Well known approaches for this aim and each one is appropriate to apply in specific constraints and conditions. In this thesis, we use Gibbs-apple approach due to non-holonomic Constraints of mobile base, since it's a suitable method for this case and causes computations to be reduced and it's not needed to calculate Lagrange multipliers.
In cases, which the number of inputs and outputs is not equal we should check internal dynamics stability. For this purpose, it's recommended to check zero dynamics stability which guarantees internal dynamics asymptotic stability. In all of the simulations we check system controllability and observability and apply appropriate linear control method for each one like PD and LQR control.
Keywords: Feedback Linearization-Mobile Robot-Flexible link, Gibbs-Apple-Stability of internal dynamics.
