OTHER
DYNAMIC MODELLING AND ASYMPTOTIC
Drilon Bunjaku
- Year
- 2016
- Citations
- 2
- Access
- Open access
Abstract
In this paper, we present the dynamic modelling of two differential wheeled mobile robot, and also propose an easily implementable control strategy, for stabilizing the nonlinear and nonholonomic WMR system around the desired final posture. The asymptotic stability is approached by using two PI controllers. The dynamic model of WMR is used in the simulation environment of Matlab/Simulink, for testing the proposed stabilizing control strategy. The validity of control strategy is verified by the simulation results.
Keywords
Nonholonomic systemControl theory (sociology)Exponential stabilityMATLABMobile robotComputer scienceNonlinear systemStability (learning theory)Differential (mechanical device)Control engineering
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