SDRE Control Mobile Robots with Differential Wheels

The code presents the dynamics, state-space, and SDRE control of a mobile robot with differential wheels.

Differential constraints of wheels put the State-dependent Riccati equation (SDRE) controller into uncontrollability conditions. Since the actuators of wheels are not directly related to coordinates of the base, a proper kinematic transformation in design provided that relation; as a result, controllability of the controller over mobile robot needs to be obtained. This code presents the dynamics, state-space representation, and control of the mobile robots with differential wheels.

For understanding the code and notations, you may read to the following paper:

Korayem, M. H., Nekoo, S. R., & Korayem, A. H. (2016). Finite time SDRE control design for mobile robots with differential wheels. Journal of Mechanical Science and Technology, 30(9), 4353-4361.