Velocity-scheduling control for a unicycle mobile robot: Theory and experiments

Davide Buccieri, Damien Perritaz, Philippe Mullhaupt, Zhong Ping Jiang, Domiique Bonvin

Research output: Contribution to journalArticlepeer-review


Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotational axis. The proposed dynamic extension acts as a velocity scheduler that specifies, at each time instant, the ideal translational velocity that the robot should have. By using a higher-order extension, both the magnitude and the orientation of the velocity vector can be generated, which introduces robustness in the control scheme. Stability for both asymptotic convergence to a point and trajectory tracking is proven. The theoretical results are illustrated first in simulation, and then experimentally on the autonomous mobile robot Fouzy III.

Original languageEnglish (US)
Pages (from-to)451-458
Number of pages8
JournalIEEE Transactions on Robotics
Issue number2
StatePublished - 2009


  • Differential flatness
  • Feedback linearization
  • Lyapunov techniques
  • Motion planning
  • Nonholonomic robot
  • Stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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