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Directional control of the motion of a rolling disk by using a rotor fixed in the disk's plane

✍ Scribed by Y. Yavin

Publisher: Elsevier Science
Year: 2005
Tongue: English
Weight: 382 KB
Volume: 50
Category: Article
ISSN: 0898-1221
DOI: 10.1016/j.camwa.2005.06.009

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✦ Synopsis

This

work deals with the stabilization and control of a system which is composed of a disk rolling on a plane, and a circular rotor plate fixed in the disk's plane. The disk's motion is controlled by the above-mentioned rotor, a "tillting moment" and a pedalling moment. It is shown here that by applying a kind of inverse dynamics control, tile motion of the disk is stabilized about a given angle, while simultaneously controlling its speed and direction in such a manner that the point of contact between the disk and the horizontal plane will be able, during a given time interval [0, ti] , to move from a given point rA to a another given point rB, both of them fixed in the plane. @

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