Exact linearization of nonholonomic system dynamics applied to control of differentially driven soccer robot

Title:

Exact linearization of nonholonomic system dynamics applied to control of differentially driven soccer robot

Creator:

Grepl, Robert, Lee, Byoungsoo, Kratochvíl, Ctirad, Šolc, František, and Hrabec, Jakub

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:bf221dba-370e-42b2-a88a-b981b461766d
uuid:bf221dba-370e-42b2-a88a-b981b461766d

Subject:

nonholonomic system dynamics, exact linearization, and soccer robot

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simualtion results are presented. and Obsahuje seznam literatury

Language:

English

Rights:

http://creativecommons.org/licenses/by-nc-sa/4.0/
policy:public

Coverage:

311-318

Source:

Engineering mechanics: international journal for theoretical and applied mechanics | 2008 Volume:15 | Number:5

Harvested from:

CDK

Metadata only:

false