 | | 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. Matyukhin, "Control of a Wheeled System Taking into Account Its Inertial Properties," Mech. Solids. 48 (3), 243-253 (2013) |
| Year |
2013 |
Volume |
48 |
Number |
3 |
Pages |
243-253 |
| DOI |
10.3103/S0025654413030023 |
| Title |
Control of a Wheeled System Taking into Account Its Inertial Properties |
| Author(s) |
V.I. Matyukhin (Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Profsoyuznaya 65, V-342, GSP-7, Moscow, 117997 Russia, v.matyuhin@mail.ru) |
| Abstract |
Mechanical wheeled systems (WS) such as a wheeled tractor, a motor car, a mobile robot, etc. are studied. The well-known trajectory problem, i.e., the problem of controlling the WS motion along a given trajectory, is considered. This problem was solved earlier in the framework of kinematic WS models. The present paper deals with general WS models that additionally take into account inertial properties such as the WS masses and/or moments of inertia. We establish that the WS are subjected to rather significant perturbing forces. A control law stabilizing the WS motion along a given trajectory is constructed. |
| Keywords |
nonholonomic system, wheeled system, trajectory control problem, stability, Lyapunov function |
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|
| Received |
24 February 2011 |
| Link to Fulltext |
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