Title :
Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs
Author :
Javier Gimenez;Claudio Rosales;Ricardo Carelli
Author_Institution :
Instituto de Autom?tica, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina
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.
Keywords :
"Adaptation models","Silicon","Torque","Mobile robots","Electronic mail","Indexes"
Conference_Titel :
Information Processing and Control (RPIC), 2015 XVI Workshop on
DOI :
10.1109/RPIC.2015.7497079
