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Community/Industry Impact and Value
• Enable technologies for autonomous vehicles
• Perform operations in environments deemed to be hazardous for human
operations
Community/Industry Engagement
• Impacts civilian and military applications
Learning Experiences
• In-depth knowledge of modelling both linear and nonlinear systems in
MATLAB\Simulink
• Handling of constrained dynamics for a ground based mobile platform
• Determining controllability of the robot
• Gradual build-up of a model-based controller to handle exernal disturbances and
track desired trajectoryTeam Composition
• Colin Weir
• Anthony Composto
• Hussein Faraj
Further Research and Development
• Experimental validation of the proposed model-based controller
• Coupling the controller with a guidance system
Model-Based Controller for a Ground
Mobile Platform
The Technology and Innovation
Overall Objective: Development of a fully-autonomous ground mobile platform
Steps:
1. Derivation of the nonlinear equations of motion for the ground mobile platform
2. Generate a MATLAB\Simulink model for the systems dynamics
3. Develop a model-based controller
i. State Feedback Controller
ii. Integral + State Feedback Controller
iii. Feedforward and Integral + State Feedback Controller
4. Test the controllers on the linearized dynamics and examine their drawbacks in
digital simulations
5. Assess the performance of the feedforward and integral + state feedback
controller on the overall nonlinear model of the mobile platform
• Douglas Harriman
• Tarciana Almeida (Brazilian student)
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Red: Reference Input signal
Magenta: Displacement and Velocity Subsystems
Blue: Matrix Creation Subsystems
Yellow: Vector creation Subsystems
Orange: Output Subsystems
Green: Controller Subsystem