Overview

This was an assignment for my Robotic Mobility course. The task was to write a controller for a wheeled vehicle that uses the dynamic bicycle model.

Process

This is the state space model for the error dynamics of the wheeled bicycle model controller.

The controller takes in a desired steering angle, then uses that to calculate the state of the error. In this model, the error is the discrepancy between the vehicles position along it’s y-axis. I put the above model into MATLAB, and then input control signals to move to desired station and steering angle.

Results

The following figures show the error dynamics of controlling the bicycle model with a steering angle and forward velocity.