This article is cited in 6 papers

Deterministic Systems

Control of wheel system with regard for state measurement errors

V. I. Matyukhin

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

Abstract: Consideration was given to the nonholonomic mechanical systems with rolling or the wheel systems. Analysis was confined to the kinematic models. Dynamics of the controlling actuator was taken into account. Consideration was given to the control of a system moving along the given trajectory. The constructed law of control stabilizes this motion as a whole in the main variables. The basic result is concerned with substantiating stability with regard for the errors of measuring the system state.

PACS: 45.80+r

Presented by the member of Editorial Board: L. B. Rapoport

Received: 29.12.2005

 English version: Automation and Remote Control, 2006, 67:9, 1389–1407

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