Expand description
Feedback Linearization controller for a unicycle robot.
Places a virtual point P at distance L ahead of the robot and applies
proportional control to drive P to the goal, then transforms the
Cartesian velocity commands back into (v, ω) for the unicycle.
Structs§
- Feedback
Linearization Config - Configuration for the Feedback Linearization controller.
- Feedback
Linearization Controller - Feedback Linearization controller.
- Feedback
Linearization Result - Full simulation result.
- Feedback
Linearization Step - One recorded step of the simulation.
Functions§
- feedback_
linearization - Convenience function.