Singularly Perturbed System Modeling in the Kinematic Model of the Unicycle Type Mobile Platform.*

The paper focuses on the method of modeling of singularly perturbed system by applying into the unicycle-type mobile platform. Firstly, the singularly perturbe system is modeled using transfer estimation code. The modeling is utilized to track the revised linear and angular velocities input, and it can be incorporated into the ROS publish and subscribe block for 2 wheel mobile platform. On the other side of research, mobile platform can be moved through ROS and MATLAB connection. Lastly, the singularly perturbed structure is used as the simu-lation model to find out the revised input by incorporating into the ROS publish and subscribe mechanism. In this presentation, the system modeling of singularly perturbed sytem is introduced using the transfer estimation code, hence the revised input is experimented based on the revised input with the real mobile robot with ROS connection.