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Dynamic Control of a Wheeled Mobile Robot

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29 Apr 2009 (Updated )

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

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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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Comments and Ratings (1)
24 Jul 2012 ZhG

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

Updates
16 Feb 2010

Acknowledged prof. of course in description.

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