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