Modelling and control of the motion of a trolley: Effect of motor dynamics on the dynamical model

This work deals with the modelling and control of the motion of a trolley. The trolley is composed from two rear wheels, each of them controlled separately by a DC-motor, and from a front castor wheel (see Figure 1). In order to obtain a set of dynamic equations of the trolley motion that include the motor dynamics, the trolley dynamics and the motor dynamics are coupled to obtain a set of third-order differential equations. Then two inverse dynamics transformations are applied successively, to enable one to use linear control for the design of guidance laws for steering the trolley.