LQR Controlled Differential Drive Robot Trajectory Tracking in MATLAB
🚀 A Complete and Realistic MATLAB Simulation of an LQR-Controlled 4-Wheel Differential Drive Robot for Trajectory Tracking
Track complex paths intelligently using Linear Quadratic Regulator (LQR) control! This MATLAB simulation offers robust performance with real-time animation and five pre-defined trajectories.
📦 What You’ll Get:
✅ Full MATLAB implementing LQR control for a 4-wheel differential drive robot
✅ User-selectable complex trajectories (Sine, Zigzag, Rectangle, Spiral, Loop)
✅ Real-time robot animation with aesthetic orange robot & black wheels
✅ Smooth LQR-based motion with state feedback controller
✅ Flowchart of the control structure
✅ Simulation plots: trajectory, errors, control effort
✅ Bonus visuals: simulated LIDAR-style perception
✅ Clean README with setup and usage steps
🎓 Ideal For:
Robotics & Control Engineering students
Capstone/final year projects
Researchers in mobile robotics
MATLAB simulation learners and educators
🔧 Key Features:
✅ Tuned LQR Controller with smooth & optimal response
✅ 5+ Complex Trajectories (e.g., Maze-like, Spiral, Rectangle)
✅ Realistic Robot Design (Orange body, black wheels, smooth trails)
✅ Animated Real-Time Visualization using animatedline, fill, etc.
✅ Clean, modular, and extensible codebase
✅ No toolboxes required — works with core MATLAB functions
⚙️ REQUIREMENTS:
✅ MATLAB (no Simulink or toolboxes needed)
✅ Works in R2020a and later
🛠️ Need Help or Customization?
📧 Email: mrengineer294@gmail.com
📸 Instagram: @engrprogrammer2494
📺 YouTube: @engrprogrammer