Stabilization of an autonomous rolling sphere navigating in a labyrinth arena: A geometric mechanics perspective

DOI10.1016/j.sysconle.2012.01.014zbMath1250.93087MaRDI QIDQ450638

Mehdi Keshmiri, Hossein Karimpour, Mojtaba Mahzoon

Publication date: 14 September 2012

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2012.01.014

zbMATH Keywords

geometric mechanics; reduction by symmetry; autonomous robotic locomotion; nonholonomic control

Mathematics Subject Classification ID

93B27: Geometric methods

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

93D21: Adaptive or robust stabilization

70Q05: Control of mechanical systems

Related Items

How to control Chaplygin's sphere using rotors

Cites Work

• Unnamed Item
• Unnamed Item
• Impulsive control of a symmetric ball rolling without sliding or spinning
• Finite-time convergent gradient flows with applications to network consensus
• The Euler-Poincaré equations and semidirect products with applications to continuum theories
• Some remarks on stabilization by means of discontinuous feedbacks
• Nonholonomic mechanical systems with symmetry
• Reduction theory and the Lagrange–Routh equations
• Non-holonomic Euler-Poincare´ equations and stability in Chaplygin's sphere
• Semidirect Products and Reduction in Mechanics
• Reconfiguration of a Rolling Sphere: A Problem in Evolute-Involute Geometry
• Mechanical control systems on Lie algebroids
• Quasivelocities and symmetries in non-holonomic systems
• Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top
• A SURVEY OF LAGRANGIAN MECHANICS AND CONTROL ON LIE ALGEBROIDS AND GROUPOIDS