Answer Happy

Consider the following kinematic model that corresponds to the
so-called "Car-like robot" shown in the figure.
a. Mention which are the control inputs in the system.
b. Implement in simulation the necessary controls to achieve
regulation to a point (that the robot reaches a desired coordinate
𝑥𝑑 = 1, 𝑦𝑑 = 1).
c. Add the dynamic model of the servo motor to the kinematic model
only to control the direction of the vehicle.
Consider 𝐿 = 0.1, the convergence to the desired position must be
in a time t<8 seconds
Graph the following:
• 𝑥, 𝑦, 𝜃, 𝛾 vs time
• Position error defined as Δ𝑥 = 𝑥𝑑 − 𝑥, Δ𝑦 = 𝑦𝑑 − 𝑦, where 𝑥𝑑, 𝑦𝑑
are the desired x-position and the desired y-position
respectively
* = v cos e ý = v sin V =žt = -tan y steering wheel angle XB у steered wheel velocity v ө RB RF →X L {0}