Numerical example: controlling a mobile robot
Symbolic approaches for the control of non linear systems

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Numerical example: controlling a mobile robot
Symbolic approaches for the control of non linear systems

Authors : Antoine GIRARD, Pierre-Jean MEYER, Adnane SAOUD

Publication date: September 10, 2024 | Lire en français

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3. Numerical example: controlling a mobile robot

In this section, we present an illustration of the symbolic approach to controller synthesis, using an example inspired by a mobile robotics problem. Matlab scripts for reproducing the example are available on the :

https://gitlab-research.centralesupelec.fr/antoine.girard/tutorial-example-on-symbolic-control

Note :

calculation times shown are obtained on a laptop (software: Matlab_R2019b; processor: 2.8 GHz Intel Core i7 quad-core; memory: 16 GB 2133 MHz LPDDR3).

3.1 Model and specification

Let's consider a robot moving in a plane, like a unicycle, whose state is characterized by its position...

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