Feedback control of a bi-steerable car using flatness application to trajectory tracking

Bi-steerable cars are four wheel drive robots with a double-axle steering capability. We tackle the stabilization problem for this kind of nonholonomic system by exploiting its flatness property. After deriving new relations between the flat output dynamics and the robot controls, an endogenous dynamic feedback is computed in order to linearize the system and stabilize it around a reference trajectory. Simulation and experimental results using a real bi-steerable car demonstrate the robustness of the approach.