Question

MA3005 Control Theory Homework 1 (due in Week 10/02 - 14/02) Consider a differential-drive mobile robot as in the figure below top view) For each question, write the answer (A, B, C or D) at the beginning of your solution, and then show your workings (mandatory). Q2 [5 marks) In practice, because of friction and transmission delays, the relationship between the commanded and the actual u, is modeled by a first-order transfer function with time constant T. The relationship between u, and can then be modelled as is the desired To control the orientation , we propose the following architecture, where orientation om ~K~Hesa 2L/(KRD TS² + S What is the Closed-Loop Transfer Function of the system? A) KR/2L) - TS2 + S KR/I2L2 Ts²+5+ KR/(2L) 2L/cked TSL+5+ 2L/(ke)

Answer 1

+TS fomula : -660H - - 5.5 ula KR 52 24T + 2L5 formula : 1+GH G= _KR , H= 1 522LT +215

KR 52 2LT + 2L 5 ol It KR s?2LT +215 ě KR o 522LT +245 + KR KR12L ŏ lol ő $25+5+ kelal SPT+5+ KR)2L : option (C) is connect .
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