mobileRobot

dynamic equations for the mobile robot benchmark model

Contents

Syntax

f = mobileRobot(x, u, w)

Description

Dynamic equation for the mobile robot benchmark model (see Eq. (6), (7),(8),(14) and (15) in [1]). The benchmarks describes a Pioneer 3DX mobile robotThe system states are x and y position of the center, the robot orientation, and the angular velocities of the two actuated wheels. Control inputs are the torques that act on the two actuated wheels.

Input Arguments

x

system states x (dimension: [nx,1])

u

control inputs u (dimension: [nu,1])

w

disturbances w (dimension: [nw,1])

Output Arguments

f

value of the dynamic function = time derivative of x

See Also

car, platoon

References


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