i have an ackerman steering model like so :

    x_t = x_t_1 + v * cos(theta) * dt
    y_t = y_t_1 + v * sin(theta) * dt
    theta_t  = theta_t_1 + v/L * tan(phi) * dt

theta: the heading angle
phi: the steering angle
dt: time step

v:linear velocity

what i'm looking for is to derive a linear state space representation: x_new = A*x_old+B*u given that the controls in this case are v and phi



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.