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# Hi,Please solve the below.Require on urgent basis. src="/qa/attachment/9007007/" alt="Q4.png" /> ATTACHMENT PREVIEW Download attachment Q4.png Formulate the mobile robot trajectory following problem as a control prob— lem. A mobile robot position at time t is denoted as (\$(t), y(t)) and its orienta- tion at time t is denoted as 9(t), the velocity and turn rate are denoted as v(t) and w(t) respectively. The nonlinear motion model can be simpliﬁed as :i? = vcosﬁ', y = vsinﬂ, 9: w Suppose the desired trajectory is at) = not, at) = 0, at) = 0 Assuming v(t) is close to 1.10, w(t) is close to 0 and 9(t) is close to 0, deﬁne the difference between the actual trajectory and the desired trajectory as the state, ’U(t) — 110 and w(t) as control inputs, assume the output is the same as the state, deriVe the state—space model of the lineariZed control system.

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