Horizontal stabilization of the two-degree-of-freedom platform of a uniaxial wheeled module tracking a given trajectory over an underlying surface

DOI10.1134/S1064230717030030MaRDI QIDQ1745836zbMATH OpenOpenAlexFDO

Authors B. S. Aleshin, V. N. Maksimov, Vitaly V. Mikheyev, A. I. Chernomorskiy

Publication date 18 April 2018

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1134/s1064230717030030

zbMATH Keywords

eactive moments of flywheel motorsgravitational moments of weightsgyroscopeshorizontal stabilizationuniaxial wheeled module (UWM)

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95) Adaptive or robust stabilization (93D21)

Recommendations

• Indicatory horizontal stabilization of the platform with two degrees of freedom of a uniaxial wheel module at its displacements on a nonhorizontal, uneven surface
• Stabilization of translational-rotational motion of uniaxial wheeled platform along a linear trajectory
• Control of the angular orientation of the platform of a uniaxial wheeled module moving without slippage over an underlying surface
• Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements
• Modelling and control of wheeled mobile robots not satisfying ideal velocity constraints: The unicycle case

Cites work

• Control of the angular orientation of the platform of a uniaxial wheeled module moving without slippage over an underlying surface
• Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements
• scientific article; zbMATH DE number 3388592 (Why is no real title available?)
• Two-wheel robot-bicycle with a gyroscopic stabilizer

Cited in

(4)

• Indicatory horizontal stabilization of the platform with two degrees of freedom of a uniaxial wheel module at its displacements on a nonhorizontal, uneven surface
• Control of the angular orientation of the platform of a uniaxial wheeled module moving without slippage over an underlying surface
• Lagrangian based mathematical modeling and experimental validation of a planar stabilized platform for mobile systems
• Stabilization of translational-rotational motion of uniaxial wheeled platform along a linear trajectory

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