Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs
Authors
Javier Gimenez, Claudio Rosales, Ricardo Carelli
Abstract
In this paper it is proposed a dynamic model of a differential drive mobile robot based on the port-Hamiltonian approach. The model inputs are reference velocities, as in most commercial robots. The model arises from a positioning controller at desired velocities, which is asymptotically stable.
Citation
- Journal: 2015 XVI Workshop on Information Processing and Control (RPIC)
- Year: 2015
- Volume:
- Issue:
- Pages: 1–6
- Publisher: IEEE
- DOI: 10.1109/rpic.2015.7497079
BibTeX
@inproceedings{Gimenez_2015,
title={{Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs}},
DOI={10.1109/rpic.2015.7497079},
booktitle={{2015 XVI Workshop on Information Processing and Control (RPIC)}},
publisher={IEEE},
author={Gimenez, Javier and Rosales, Claudio and Carelli, Ricardo},
year={2015},
pages={1--6}
}