Be the first to rate this file! 36 Downloads (last 30 days) File Size: 2.03 MB File ID: #23962
image thumbnail

Dynamic Control of a Wheeled Mobile Robot



29 Apr 2009 (Updated )

Non-linear feedback linearization is applied to the dynamics of a wheeled mobile robot.

| Watch this File

File Information

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)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (1)
24 Jul 2012 ZhG

Hello. Could you share me the reference paper you used for this simulation. Thanks very much.

16 Feb 2010

Acknowledged prof. of course in description.

Contact us