Control of Mobile Robots: Glue Lectures

Instructor:

Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech
 Glue Lecture 7: In a nutshell

2

 Math to motion

Dynamical models x(t) = f (x, t)
x(t ) = x
x(t) = 2x
x(0) = 10
x(t) = x0 e2(t t0 )
= 10e2t

3

Math to motion

Dynamical models

(a)
(b)

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

u y
(A, B, C)

model
sensors

actuators

5

 We can make robots do anything!

Stability
Controllability
Observability
Automata
No Zeno Eect ..

6

 We can make robots do anything .. with math!

Dieren=al Equa=ons
Linear Algebra
Geometry

7

 Signing off

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8

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

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