Dynamic Control of a Wheeled Mobile Robot

Version 1.1.0.0 (2.03 MB) by Hrishi Shah
Non-linear feedback linearization is applied to the dynamics of a wheeled mobile robot.
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Updated 16 Feb 2010

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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. AVI file recording is also available for easy viewing later. Just uncomment the 4 lines marked with step numbers in the PLOTBOT_WMR file.
This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

Cite As

Hrishi Shah (2026). Dynamic Control of a Wheeled Mobile Robot (https://www.mathworks.com/matlabcentral/fileexchange/23962-dynamic-control-of-a-wheeled-mobile-robot), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2008a
Compatible with any release
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Version Published Release Notes
1.1.0.0

Acknowledged prof. of course in description.
1.0.0.0