Accounting for phase limitations during intense acceleration of a mobile robot and its motion in drift mode

DOI10.1134/S1064562424701709MaRDI QIDQ6545167zbMATH OpenFDO

Authors S. A. Reshmin, M. T. Bektybaeva

Publication date 29 May 2024

Published in Doklady Mathematics (Search for Journal in Brave)

zbMATH Keywords

trajectory optimizationwheel systemtraction controllinear tangent lawvelocity maximization

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Adaptive motion control of a mobile wheeled robot taking into account the nonideality of the drives
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Cites work

• A new shimmy model
• Absolute and relative choreographies in rigid body dynamics
• Nonholonomic mechanical systems and stabilization of motion
• On optimal rotation of a rigid body by applying internal forces
• Optimal traction control in high-speed maneuvering under dry friction conditions
• Pontryagin's maximum principle and optimal programming of rocket thrust
• The analysis of the loss of the traction effect during an intensive start of a vehicle
• The theory of the control of a monocycle

Cited in

(1)

• Control of acceleration of a dynamic object by the modified linear tangent law in the presence of a state constraint

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