Differential-Drive Robot Model
A model that predicts a Pololu Romi two-wheeled robot's motion from its two wheel voltages: motors, traction, and planar chassis dynamics. The states are motor currents, wheel speeds, chassis velocity, yaw rate, heading, and X-Y position. I derived the state equations and Jacobians symbolically in MATLAB, linearized about the operating point, and built the model in Simulink. The linearized model tracks the nonlinear one near that point. I ran equal and unequal wheel voltage cases and animated the top-view trajectory from the model output.