Dynamic Control of a Wheeled Mobile Robot
by Hrishi Shah
29 Apr 2009
(Updated 16 Feb 2010)
Non-linear feedback linearization is applied to the dynamics of a wheeled mobile robot.
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| File Information |
| Description |
The wheeled mobile robot dynamics are studied from standard papers available on the topic and non-linear feedback linearlization is done to reduce the equations of motion to a second order dynamic equation of the error of position of the wheeled robot. AVI file recording is also available for easy viewing later. Just uncomment the 4 lines marked with step numbers in the PLOTBOT_WMR file.
This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo. |
| MATLAB release |
MATLAB 7.6 (R2008a)
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| Updates |
| 16 Feb 2010 |
Acknowledged prof. of course in description. |
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