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IssuesArchive of Issues2013-3pp.243-253

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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
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