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The control of a wheeled mechanical system

✍ Scribed by V.I. Matyukhin

Publisher: Elsevier Science
Year: 2007
Tongue: English
Weight: 349 KB
Volume: 71
Category: Article
ISSN: 0021-8928
DOI: 10.1016/j.jappmathmech.2007.06.004

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✦ Synopsis

Non-holonomic systems with rolling or wheeled systems are investigated. The investigation is restricted to kinematic models and the dynamics of the drive mechanism of the system are taken into account. A control law is constructed which stabilizes the motion of a wheeled system along a specified trajectory (a plane smooth curve). For the basic variables of the system, the property of stabilizability is substantiated in the large.

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