Dynamic Control of a Wheeled Mobile Robot

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

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)

[ZhG]

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