Control theory is one of those things that shouldn't possibly work, yet here we are.
Useful revision of the engineering kinematics I covered a while ago.
Needs an animation!
I wonder how much of an improvement would the linearization yield in this case, given that it only works for small angles (which I imply from "see how to linearize and discretize it for small angles" in the article), and I guess that for large angles there won't be enough wheel grip anyway if torque would suffice, even with linearized control.
Well, it's a nice occasion to revisit an old project and try, then.
djoldman•3mo ago
As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off.
Pre-render your latex!
https://katex.org/
AndrewOMartin•3mo ago