Differential Models

 

• Motivation
• Control System Representation
• Kinematics for Wheeled Systems
  • A Simple Car
  • A Continuous-Steering Car
  • A Car Pulling Trailers
  • A Differential Drive
• Rigid-Body Dynamics
  • The state space
  • Example: Lunar lander
• Multiple-Body Dynamics
• More Examples
  • The nonholonomic integrator