State Feedback Controller and Luenberger Observer Design for a Two-Wheeled Mobile Robot Following a Path

Alcañiz, Alba; Cuesta, Sergi; Granados, Marta

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State Feedback Controller and Luenberger Observer Design for a Two-Wheeled Mobile Robot Following a Path

To access the full text documents, please follow this link:: http://hdl.handle.net/2117/192265

Date: 2021-03-25

Document type: Coursework

Published by: Universitat Politècnica de Catalunya

Note:

The aim of this project is to design and implement a control algorithm and a Luenberger observer in order that a mobile two-wheeled robot follows a path. In order to do it, we will study the observability and controllability of the system. Simulations of the tracking system will be done and then introduced to the robot’s code and tested in a simple circuit.

2016/2017