The problem: line follower robots - non linear systems - use linear PID regulation algorithm in order to bring error to zero. However, using linear regulator is not the best way to drive non linear system.
There is something like global linearization of non linear systems - an algorithm that can bring regulation error to zero. In order to use it, one has to know kinematics of robot: Coriolis, inertion, gravity and friction matrixes. Those were once measured in EDDA manipulator and are now used in science, and that is how I learned about global linearization.
The question: I'd like to identify
kinematical dynamical parameters of my line follower robot. I already have kinematical model, since it is simple (2,0) platform. Has anyone got information about good sources on physical parameters identification of mobile robot like this?