Control design for a unicycle - feedback linearisation, with Matlab and ROS simulation
Channel: BarelyWalking
Date: 2019-04-21

Lecture part:
00:00:14 - trajectory sketch
00:04:14 - unicycle model
00:20:09 - adding PD controller for tracking
00:23:32 - input-output feedback linearisation
 Matlab/ROS part:
00:34:26 - roscore + turtlesim
00:37:59 - Matlab
00:47:48 - final program

The video shows how to design a control system for a unicycle based on a feedback linearisation. Implementation is done in Matlab with a ROS running the Turtle simulation.

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Music from https://filmmusic.io:
"Glitter Blast" by Kevin MacLeod (https://incompetech.com)
Licence: CC BY (http://creativecommons.org/licenses/by/4.0/)