Details of multivariable centralized control (with Feedback Linearization) of differential drive robots for traversing a desired path at a given constant speed are provided in this video along with an example and accompanying MATLAB and Simulink files that can be downloaded from here:
MATLAB Script:
[ Ссылка ]
Simulink File:
[ Ссылка ]
![](https://s2.save4k.ru/pic/3uyVSDHbXJI/maxresdefault.jpg)