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Dynamic Control of a Wheeled Mobile Robot

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Dynamic Control of a Wheeled Mobile Robot


Hrishi Shah (view profile)


29 Apr 2009 (Updated )

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.

MATLAB release MATLAB 7.6 (R2008a)
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Comments and Ratings (1)
24 Jul 2012 ZhG

ZhG (view profile)

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

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16 Feb 2010 1.1

Acknowledged prof. of course in description.

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