SDRE Control Mobile Robots with Differential Wheels

version 1.0.1 (3.59 KB) by Saeed Rafee Nekoo
The code presents the dynamics, state-space, and SDRE control of a mobile robot with differential wheels.

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Updated 12 Mar 2022

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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.

Cite As

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.

MATLAB Release Compatibility
Created with R2021b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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