SDRE Control Mobile Robots with Differential Wheels
Version 1.0.1 (3,59 ko) par
Saeed Rafee Nekoo
The code presents the dynamics, state-space, and SDRE control of a mobile robot with differential wheels.
Differential constraints of wheels put the State-dependent Riccati equation (SDRE) controller into uncontrollability conditions. Since the actuators of wheels are not directly related to coordinates of the base, a proper kinematic transformation in design provided that relation; as a result, controllability of the controller over mobile robot needs to be obtained. This code presents the dynamics, state-space representation, and control of the mobile robots with differential wheels.
For understanding the code and notations, you may read to the following paper:
Korayem, M. H., Nekoo, S. R., & Korayem, A. H. (2016). Finite time SDRE control design for mobile robots with differential wheels. Journal of Mechanical Science and Technology, 30(9), 4353-4361.
Citation pour cette source
Korayem, M. H., Nekoo, S. R., & Korayem, A. H. (2016). Finite time SDRE control design for mobile robots with differential wheels. Journal of Mechanical Science and Technology, 30(9), 4353-4361.
Compatibilité avec les versions de MATLAB
Créé avec
R2021b
Compatible avec toutes les versions
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Version | Publié le | Notes de version | |
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1.0.1 | Title change. |
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1.0.0 |