Comparing Feedback Linearization and Adaptive Backstepping Control for Airborne Orientation of Agile Ground Robots using Wheel Reaction Torque

Jinho Kim, Daniel J. Gonzalez, Christopher M. Korpela

In this paper, two nonlinear methods for stabilizing the orientation of a Four-Wheel Independent Drive and Steering (4WIDS) robot while in the air are analyzed, implemented in simu…