Dynamic control of a wheeled mobile robot in matlab

The following Matlab project contains the source code and Matlab examples used for dynamic control of a wheeled mobile robot. The wheeled mobile robot dynamics are studied from standard papers available on the topic and non-linear feedback linearlization is done to reduce the equations of motion to a second order dynamic equation of the error of position of the wheeled robot.

The source code and files included in this project are listed in the project files section, please make sure whether the listed source code meet your needs there.

Project Files: 

File NameSize
hw6.pdf 962535
HW6_MAIN_1.m 3487
Kp15Kd10.mat 24104
Kp15Kd2.mat 24133
Kp5Kd10.mat 24138
license.txt 1311
plotbot_WMR.m 3026
readme.txt 562
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=15Kp2=15.avi 943104
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=5Kp2=5.avi 930304
Wheeled Mobile Robot Control;Kd1=2Kd2=2Kp1=15Kp2=15.avi 926208
WMR_TRAJTRACK.m 3613

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