MMaMS 2014 Dynamic Model of a Mobile Robot

The contribution presents the dynamic model of a differential two-wheeled mobile robot in the joint frame, i.e. in the plane of angular position of both the right-hand side wheel and the left-hand side one. The aim is to create an appropriate MIMO plant model for the purpose of the mobile robot motion control synthesis. Based on the Lagrangian formalism, the complete description of the second order matrix differential equation (the dynamic model of the mobile robot) is provided, including the influence of inertial coupling forces. A pair of wheel driving torques represents the input of given model. Additionally, a decoupled dynamic model for the robust motion control implementation is presented.