Develop a Modeling Equation for Control Mobile Robot using State Space Equation

The development of model equations for controlling mobile robots using State Space equations. The objective of the project study is to develop dynamic model equa-tions of mobile robots using State Space equations and to install mobile robot models for practical experiments. With method robot 3D design, writing dynamic equations, model-ing of motion drive systems, modeling equations in MATLAB, and experimenting. From the results that show that when the robot moves transitional motion in the modeling equa-tions and experiments, we see that for 100 kg robot mass the DC motor current is 15A and the robot torque is 24Nm, and 100 kg robot mass the DC motor current is 25A and the robot torque is 34Nm. We conclude that the results of the motor DC current and the torque of the wheels of the model equation and the experiment are similar. And as the mass of the robot increases, so does the DC motor and the torque of the robot.