Problem 4. (10 points) Consider the following differential-drive vehicles di = Wij cos Oi, vi = Uil sin i, 0; = U12 wher

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Problem 4 10 Points Consider The Following Differential Drive Vehicles Di Wij Cos Oi Vi Uil Sin I 0 U12 Wher 1 (77.27 KiB) Viewed 50 times

Problem 4. (10 points) Consider the following differential-drive vehicles di = Wij cos Oi, vi = Uil sin i, 0; = U12 where i = 1,2,3, (li, yi) are the coordinates in the Cartesian space, and wi and :2 are control inputs. Assume their sensing/communication topology is undirected and connected. Initial conditions: 27(0) = 2, 12(0) = 1, 23(0) = 3, yn (0) = 1, 42(0) = 2, 43(0) = 3, 6,0) = 0;62(0) = -1/2; 03(0) = 7/2. 1) Show how to use input/output linearization to convert the above model into the single integrator model. Assume the robot radius is 0.2. 2) Based on the linear model in item 1), design cooperative controls to solve the consensus problem of three vehicles. 3) Specify the ranges of consensus values of xi(t) and yi(t), respectively.