Stabilization of the unicycle via dynamic feedback linearization

We consider the feedback control problem for a wheeled mobile robot with the kinematics of a unicycle, a typical example of nonholonomic robotic system. It is shown that dynamic feedback linearization can be used to design a simple control law which is valid for trajectory tracking as well as point stabilization tasks. In particular, for both cases exponential convergence with linear transients in the cartesian space is obtained. Experimental results for a laboratory prototype prove the effectiveness of the proposed method