Design of Mobile Robot's Behavior Control System using Hybrid Control System Framework

C. Machbub, A. Setijadi, and E. Suhartanto (Indonesia)


hybrid systems, modeling, stability, simulation


This paper deals with modeling and design of control system behavior of a mobile robot in the hybrid framework. The mobile robot is represented by continuous system consisting of differential equations and discrete events system modelled by logical phrases. Designing process follows a systematic procedure to ensure switching set stability of the system. Simulation using Matlab and StateFlow Toolbox is then carried out to verify stability of the system.

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