Stabilization of translational-rotational motion of uniaxial wheeled platform along a linear trajectory

DOI10.1134/S1064230710050163zbMATH Open1268.93072MaRDI QIDQ357166FDOQ357166

Authors: G. P. Sachkov, S. V. Feshchenko, A. I. Chernomorskiy 

Publication date: 30 July 2013

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

Recommendations

• Horizontal stabilization of the two-degree-of-freedom platform of a uniaxial wheeled module tracking a given trajectory over an underlying surface
• Motion stabilization of a wheeled transport robot
• 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
• scientific article; zbMATH DE number 1805607

zbMATH Keywords

control problemsnonholonomic constraintscontinuous correctionlinear trajectorystabilization of translational-rotational motionupper inverted pendulumwheel interaction

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Cites Work

• Dynamics, control, and simulation of robots with differential drive
• Two-wheel robot-bicycle with a gyroscopic stabilizer

Cited In (5)

• Control of the angular orientation of the platform of a uniaxial wheeled module moving without slippage over an underlying surface
• Control of wheeled platforms straight motions taking into account jerk restrictions under speeding-up from the state of rest
• Stabilization of a platform under wind loads
• Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements
• Stability of the rectilinear motion of an omni vehicle with consideration of wheel roller inertia

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