INVESTIGADORES
ROSALES Claudio Dario
congresos y reuniones científicas
Título:
Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs
Autor/es:
JAVIER GIMENEZ; ROSALES CLAUDIO D.; CARELLI RICARDO
Lugar:
Córdoba
Reunión:
Congreso; XVI Reunión de Procesamiento de la Información y Control; 2015
Institución organizadora:
Comité Organizador RPIC
Resumen:
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.
