Control of Mobile Robots: Glue Lectures

Instructor:
Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech

Glue Lecture 7: In a nutshell

Math to motion

Dynamical models

x(t)

= 2x
x(0) = 10
x(t) = x0 e2(t

t0 )

x(t)

= f (x, t)
x(t ) = x

= 10e2t

Math to motion

Dynamical models
(a)

R
x = (vr + vl ) cos
2
R
y = (vr + vl ) sin
2
= R (vr vl )
L

(b)

x = v cos
y = v sin
=!

Systems

u
model

(A, B, C)

actuators

sensors

We can make robots do anything!

Stability
Controllability
Observability
Automata
No Zeno Eect ..

We can make robots do anything .. with math!

Dieren=al Equa=ons
Linear Algebra
Geometry

Signing off

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Good luck with Quiz 7 and the rest of your lives !!

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