Feasible command strategies for the control of motion of a simple mobile robot

DOI10.1007/BF02189801MaRDI QIDQ2565035zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 6 August 1997

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf02189801

zbMATH Keywords

disk-rod systempath controllablerobotrolling disk

Mathematics Subject Classification ID

Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85)

Review text

The paper considers the problem of control and guidance of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. This problem is solved not by using some optimal control technique but by computing feasible command strategies. A condition under which the disk-rod system is path controllable is established.

Recommendations

• Closed-loop control of the motion of a disk-rod system
• Open loop strategies for the control of a disk rolling on a horizontal plane
• Feasible command strategies for the control of a rolling disk with a rod fixed along its axis
• The motion of a cylinder-rod system on a horizontal plane: Feasible control and path controllability
• Navigation and control of the motion of a rolling disk carrying a controlled translational moving rod

Cites work

• A new and dynamic method for unconstrained minimization
• An improved version of the original leap-frog dynamic method for unconstrained minimization: LFOP1(b)
• Computation of feasible control trajectories for the navigation of a ship around an obstacle in the presence of a sea current
• scientific article; zbMATH DE number 417962 (Why is no real title available?)
• Nonholonomic motion planning: steering using sinusoids
• On the "adiabatic approximation" for design of control laws for linear, time-varying systems
• Robot motion planning with uncertainty in control and sensing
• Stabilization of trajectories for systems with nonholonomic constraints

Cited in

(8)

• Closed-loop control of the motion of a sphere rolling on a moving horizontal plane
• On a horizontal version of the inverse pendulum problem
• The motion of a cylinder-rod system on a horizontal plane: Feasible control and path controllability
• Collision avoidance by a ship with a moving obstacle: Computation of feasible command strategies
• Closed-loop control of the motion of a disk-rod system
• Open loop strategies for the control of a disk rolling on a horizontal plane
• Motion controller design of wheeled inverted pendulum with an input delay via optimal control theory
• FEASIBLE OUTPUT FEEDBACK CONTROLLER DESIGN FOR LINEAR SYSTEMS

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