very well explanation... I will try this controller for my unicycle robot simulation in Open-Dynamic Engine (ODE) simulation.

wow..what a start....excellent ,,,,start

great explanation

Thanks for you video. Just a question, perhaps did I skeep a point in it. How do you ensure that v is never null? Obviously, you could artificially force v to be never zero, but in this case, how do you ensure the convergence (theoretically)?

git ziomek

Could you explain go to goal control of 2 wheeled differential drive mobile robot

First excellent video, second sorry for my english, the control law that you propose with double derivate of trayectory plu proporcional constan multiple error of position and the derivate constan multiple with error of velocities, my question is i can use thah control law with any control system? i want to make a invert pendulum on a cart apliedd this type of control laws

@BarelyWalking

5 жыл бұрын

yes, you can try the feedback linearisation for the cart-pendulum, but there will be problems with it - it will only be a partial linearisation, since you quite probably have one input signal (force moving the cart) - so you will have to choose which single output to control

Hello can you help me to simulate the unicycle in market/simulink??

Please can you explain bicycle model.

Hello professor, I reallly would appreciate it if you tell me how to use a matlab code on a real robot.

Any link available to matlab code

why are we not taking the mass of the robot into account ?

the control method is fantastic!, Does anyone tell me what's this method name in control textbook?

@BarelyWalking

2 жыл бұрын

It's not that fantastastic mainly because it does not go well with noisy environments. You can find it (or sth similar) as "feedback linearisation", "input-output feedback linearisation", "inverse dynamics", the part about using acceleration instead of linear velocity for control input - that's either under the name "preintegration" or "dynamic precompensation". Also check "F-linearisation" (feedback), "S-Linearisation" (input-to-state linearisation), because something people use those shortcuts.

@kpfxzzsy

2 жыл бұрын

@@BarelyWalking I just find similar topic on chapter 7.10.2 "robust tracking control: the error-space approach" of book "feedback control of dynamic systems 7th edition" by Gene F.Franklin, and I am trying to understand it. Thanks your sharing. Your demo is really wonderful.