1
$\begingroup$

I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form:

$v_d=v_{fb}+v_{ff}$

$\omega_d=\omega_{fb}+\omega_{ff}$

now, I would like to define the acceleration controls, and I know that I can do it in the following way:

$a_v=(v_d-v_{actual})+\dot{v_d}$

$a_\omega=(\omega_d-\omega_{actual})+\dot{\omega_d}$

I would like to do this using Matlab\Simulink. This code is inside a Matlab function clock.

my question is:

Is there a way I can compute the feedforward terms $\dot{v_d}$ and $\dot{\omega_d}$ without computing them manually?

I would like to avoid to compute them manually since their expression is really complicated and it is almost impossible to not make mistakes.

$\endgroup$

1 Answer 1

0
$\begingroup$

How are you calculating $v_d$ and $\omega_d$? Simulink has a derivative block, have you tried using that?

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.