124. DYNAMIC MODELLING AND ASYMPTOTIC

Drilon  Bunjaku; Jovan  Stefanovski

doi:10.51466/JEET161-2025b

Drilon Bunjaku 1Informatics Engineering, FMCE at University of Mitrovica, Republic of Kosovo 2Control & Informatics Div., JP ”Streževo”, Bitola, Republic of Macedonia 3Faculty of Electrical Engineering and Information Technologies, "Ss. Cyril and Methodius" University in Skopje, Rugjer Bošković bb, P.O. box 574, 1001 Skopje, Republic of Macedonia
Jovan Stefanovski

DOI: https://doi.org/10.51466/JEET161-2025b

Keywords: wheeled mobile robot, dynamic modelling, nonholonomic robots, stabilization control, linear controller

Abstract

In this paper, we present the dynamic modelling of two differential wheeled mobile robot, and also propose an easily implementable control strategy, for stabilizing the nonlinear and nonholonomic WMR system around the desired final posture. The asymptotic stability is approached by using two PI controllers. The dynamic model of WMR is used in the simulation environment of Matlab/Simulink, for testing the proposed stabilizing control strategy. The validity of control strategy is verified by the simulation results.