Hi!
1- I think the turn rate limit block in Unicycle simulink model should be 'rate limiter' block not 'saturation' block.
2- I think you should add 'IC' block before all 'rate limiter' blocks in models 'Unicycle' and 'Bicycle' because the internal initial value is ignored in this mode. It's important here to have initial value to simulate the initial velocities (most important, equal to zero to simulate that the robot is starting from zero velocities e.g. initially stopped).
Hi! 1- I think the turn rate limit block in Unicycle simulink model should be 'rate limiter' block not 'saturation' block. 2- I think you should add 'IC' block before all 'rate limiter' blocks in models 'Unicycle' and 'Bicycle' because the internal initial value is ignored in this mode. It's important here to have initial value to simulate the initial velocities (most important, equal to zero to simulate that the robot is starting from zero velocities e.g. initially stopped).