Dynamic model based motor control for wheeled mobile robots

A novel motor control law based on dynamic model (DMMC) is proposed for wheeled mobile robot to control its two driving motors synchronously. First, kinematic model and dynamic model of the mobile robot, of which the mass center position is arbitrary, are derived, and the nonlinear differential equation of speeds and torques of the two wheels is derived. And then, system state equation of the mobile robot is derived based on the nonlinear differential equations of speeds and torques, electrical equations and electrical-mechanical equations of the two driving motors. Finally, the pole placement method is used to form a type I state feedback control law. Simulation shows that the DMMC controller can respond to the input instructions quickly without static error.