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Autonomous Systems Tutorial 2

This document provides an overview of autonomous systems and kinematic models for a unicycle and differential drive mechanism. It introduces the kinematic models which relate the states of position, velocity, and orientation to the inputs of linear and angular velocity. The document also discusses the concept of controllability for linear systems and how to test for it using the controllability matrix. The goal is to understand autonomous vehicle dynamics and control system design.

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Khaled Zaki
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55 views

Autonomous Systems Tutorial 2

This document provides an overview of autonomous systems and kinematic models for a unicycle and differential drive mechanism. It introduces the kinematic models which relate the states of position, velocity, and orientation to the inputs of linear and angular velocity. The document also discusses the concept of controllability for linear systems and how to test for it using the controllability matrix. The goal is to understand autonomous vehicle dynamics and control system design.

Uploaded by

Khaled Zaki
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Autonomous Systems:Tutorial 2

Mechatronics Engineering

Dr. Islam S. M. Khalil

German University in Cairo


Faculty of Engineering and Material Science

February 9, 2018

Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 1 / 11


For a unicycle

Kinematical Model:
     
x ẋ v cos(θ)
q =  y  , q̇ =  ẏ  =  v sin(θ)  (1)
θ θ̇ ω

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     
ẋ cos(θ) 0
 ẏ  =  sin(θ)  v +  0  ω (2)
|{z} |{z}
θ̇ 0 u1 1 u2
| {z } | {z }
g1 g2

Constraint:
ẋ sin(θ) = ẏ cos(θ) (3)

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For a differential Drive Mechanism
The Kinematical Model: The Robot uses 2 actuated
independent wheels and a 3rd wheel for stability.

For each Rotating wheel:The velocity of center of right wheel is:


VR = ωR R (4)
where, ωR = φ̇R (Angular velocity of right wheel)
VL = ωL R, (5)
where ωL = φ̇L (Angular velocity of the left wheel)
Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 4 / 11
Therefore,
Velocity at center of robot is:

(VR + VL )
V = (6)
2
and the components of this velocity along the horizontal (x) and
vertical (y) directions, when the robot is inclined with an angle
(θ) with the horizontal.

(VR + VL ) (R φ̇R + R φ̇L ) cos(θ)


ẋ = Vx = V cos(θ) = cos(θ) =
2 2

(VR + VL ) (R φ̇R + R φ̇L ) sin(θ)


ẏ = Vy = V sin(θ) = sin(θ) =
2 2

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Regarding the orientation of the robot
If the robot moves with Right and Left wheels, having different
velocities,it will rotate about a certain point (c)

The rate of change of this angle (θ) around the point (c) is:
θ̇ = (VL −V
L
R)
(for the shown diagram)
(VR −VL ) (φ̇R R−φ̇L R)
Generally, θ̇ = L = L

Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 6 / 11


Studying the states (ẋ,ẏ and θ̇), we can reach:
   R   R 
ẋ 2 cosθ 2 cosθ
 ẏ  =  R sinθ  φ̇R +  R sinθ  φ̇L (7)
2 2
R
θ̇ L − RL

That’s in the form of:

ẋ = f (x) + g(x)u (8)

Non-linear function in the states (x) and the input to the system
(φ̇R , φ̇L ).

Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 7 / 11


The Block Diagram:

Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 8 / 11


Controllability of Linear System

The state space representation is as follows:


ẋ = Ax + Bu
y = cx
If the system behaviour is not satisfactory (settling time,
overshoot, etc.), you need to design a controller to change the
system characteristic equation to a desired one through the
input
u = −Kx
where K is some controller gain.
but for this to be possible, we must first check the controllability
of the system, if the system is not controllable then this
approach will not be possible,

Dr. Islam S. M. Khalil Autonomous Systems:Tutorial 2 9 / 11


Controllability
A System with internal state vector x is called controllable if the
system states can be changed by changing the system input..

This can be tested through getting the ”Controllability Matrix”

CM = B AB A2 B ....
 
(9)

If the CM matrix is full rank, then all the system states are
controllable, if not then its not controllable.

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Any Questions ?
Thank you

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