Modelling and control of the motion of a cart moving on a plane with a time-dependent inclination (Q1410971)

The paper deals with the modelling and control of the motion of a cart moving on a plane \(P\) with a time-dependent inclination. The cart is composed of two identical wheels and an axle that passes through the centers of these wheels. The motion of each wheel is driven and controlled separately. Both wheels are rolling without slipping on the plane \(P\). The plane \(P\) is described by a set of three orthonormal time-dependent vectors \(e_1(t)\), \(e_2(t)\), \(e_3(t)\) such that \(e_1(t)\), \(e_2(t)\) are always in and attached to the plane \(P\), while \(e_3(t)\) is always normal to it. The system \((e_1(t)\), \(e_2(t)\), \(e_3(t))\) is rotating about its origin, which is assumed to be a fixed point in \(\mathbb{R}^3\). The corresponding equation of motions are given and linearized. An appropriate control law is introduced. It is shown that the considered system is controllable. The paper is related to a previous paper by the same author which deals with a moving cart on a smooth rigid terain.