• DocumentCode
    3778408
  • Title

    Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs

  • Author

    Javier Gimenez;Claudio Rosales;Ricardo Carelli

  • Author_Institution
    Instituto de Autom?tica, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina
  • fYear
    2015
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    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.
  • Keywords
    "Adaptation models","Silicon","Torque","Mobile robots","Electronic mail","Indexes"
  • Publisher
    ieee
  • Conference_Titel
    Information Processing and Control (RPIC), 2015 XVI Workshop on
  • Type

    conf

  • DOI
    10.1109/RPIC.2015.7497079
  • Filename
    7497079
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3778408