High Order Fully Actuated Modelling and Control of an Unmanned Vehicle

Initially, a high - order modeling approach is employed to develop an integrated kinematics and dynamics model for the differential - drive robot, enabling it to transformation from an underactuated system to a fully actuated system under specific states. Subsequently, tunable parameters are introduced into the system, expanding the scope of full-actuation control from partial states to all states, thereby significantly enhancing the control performance of the system. Finally, this paper successfully implements the modeling and full - actuation control of an integrated kinematics and dynamics fully - actuated system for an unmanned vehicle, and the effectiveness of the controller is validated through simulation experiments.