This article is cited in 3 papers

Deterministic Systems

Control of wheel system under uncertainty

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 such as mobile robot, car, or wheeled tractor. Analysis was confined to the kinematic models with regard for the dynamics of the controlling drives. Control of system motion along a given trajectory (planar smooth curve) was studied. The designed control law stabilizes this motion in large in the basic variables. The main result lies in solution of the problem of control under uncertainty when only sufficiently general dynamic characteristics of the wheel system drive are known.

PACS: 45.80.+r

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

Received: 07.02.2008

 English version: Automation and Remote Control, 2009, 70:5, 811–828

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