 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| V. I. Kalenova, V. M. Morozov, and E. N. Sheveleva, "Stability and stabilization of motion of a monocycle," Mech. Solids. 36 (4), 40-46 (2001) |
| Year |
2001 |
Volume |
36 |
Number |
4 |
Pages |
40-46 |
| Title |
Stability and stabilization of motion of a monocycle |
| Author(s) |
V. I. Kalenova (Moscow)
V. M. Morozov (Moscow)
E. N. Sheveleva (Moscow) |
| Abstract |
Recently, together with numerous publications on the dynamics of
multi-link and multi-wheeled robots, publications have appeared
dealing with the dynamics of single-wheel robots that can move
rectilinearly and make turns [1-3]. This makes topical the study
of stability and controllability of a nonholonomic mechanical system
that can describe the motion of a single-wheel controlled vehicle.
Steady state motions are given for a nonholonomic mechanical system
representing a model of a monocycle moving along a horizontal plane.
Necessary conditions for stability of these motions are obtained,
and the possibilities for their stabilization by means of
appropriate control actions are analyzed. |
| References |
| 1. | H. B. Brown Jr and Y. Xu, "A single-wheel, gyroscopically
stabilized robot," in Proc. of 1966 IEEE Intern. Conf.
on Robotics and Automation. Minneapolis, 1996, pp. 3558-3661, IEEE, New
York, 1966. |
| 2. | Z. Sheng, K. Yamafuji, and S. Ulanov, "Study
on the stability and motion control of a unicycle 4th reports:
Fuzzy gain schedule PD controller for managing nonlinearity
of system," JSME Intern. Journal, Ser. C, Vol. 39, No. 3,
pp. 569-576, 1996. |
| 3. | S. Takemori and Y. Okuyama, "Stabilization control of
a mono-cycle based on H∞ control theory,"
in Proc. Asian Control Conf., pp. 591-594, Tokio, 1994. |
| 4. | Yu. I. Neimark and N. A. Fufaev, Dynamics of Nonholonomic
Systems [in Russian], Nauka, Moscow, 1967. |
| 5. | A. V. Karapetyan and V. V. Rumyantsev, "Stability of conservative
and dissipative systems," in Achievements in Science and Technology.
Ser. General Mechanics. Volume 6 [in Russian], VINITI, Moscow, 1983. |
| 6. | N. G. Chetaev, Stability of Motion [in Russian],
Gostekhizdat, Moscow, 1955. |
| 7. | A. P. Markeev, Dynamics of a Body Having Contact
with a Rigid Surface [in Russian], Nauka, Moscow, 1992. |
| 8. | A. J. Laub and W. F. Arnold, "Controllability and observability
criteria for multivariable linear second-order models,"
IEEE Trans. Automat. Control, Vol. AC-29, No. 2, pp. 163-165, 1984. |
| 9. | V. I. Kalenova, V. M. Morozov, and M. I. Salmina,
"Controllability and observability in the problem
of stabilization of mechanical systems with cyclic coordinates,"
PMM [Applied Mathematics and Mechanics], Vol. 56, No. 6,
pp. 959-967, 1992. |
|
| Received |
24 April 1999 |
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