# mobileRobot

dynamic equations for the mobile robot benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## 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

- [1] Ivanjo et al. (2010), Modelling of mobile robot dynamics.

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