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

DOI10.1134/S1064230710050163MaRDI QIDQ357166zbMATH OpenFDO

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)

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)

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

Cites work

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

Cited in

(7)

• Stability of the rectilinear motion of an omni vehicle with consideration of wheel roller inertia
• Stabilization of a platform under wind loads
• Control of wheeled platforms straight motions taking into account jerk restrictions under speeding-up from the state of rest
• Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements
• 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
• Horizontal stabilization of the two-degree-of-freedom platform of a uniaxial wheeled module tracking a given trajectory over an underlying surface

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