SDRE Control Mobile Robots with Differential Wheels

The code presents the dynamics, state-space, and SDRE control of a mobile robot with differential wheels.
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Actualizado 15 jul 2024

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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 working with the code better and see the 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.

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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.

Compatibilidad con la versión de MATLAB
Se creó con R2021b
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Versión Publicado Notas de la versión
1.0.2

Adding explanation for the parameters.

1.0.1

Title change.

1.0.0