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Dynamic Control of a Wheeled Mobile Robot

version 1.1 (2.03 MB) by

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

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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.

Comments and Ratings (1)

ZhG

ZhG (view profile)

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

Updates

1.1

Acknowledged prof. of course in description.

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