Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Adeel Akhtar, Christopher Nielsen, Steven L. Waslander

Research output: Contribution to journalArticlepeer-review

48 Scopus citations


This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.
Original languageEnglish (US)
Pages (from-to)269-279
Number of pages11
JournalIEEE Transactions on Robotics
Issue number2
StatePublished - Apr 1 2015
Externally publishedYes

ASJC Scopus subject areas

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


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