Temat: lie - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Control of a unicycle-like robot with trailers using transverse function approach
Autorzy:: Pazderski, D.
Kozłowski, K.
Waśkowicz, D.
Powiązania:: https://bibliotekanauki.pl/articles/201599.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: transverse functions
vehicle with trailers
nonholonomic system
control motion task
Lie group
Opis:: The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 557-579
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Control of a planar robot in the flight phase using transverse function approach
Autorzy:: Pazderski, D.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/201212.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: transverse functions
hopping robot
space manipulator
nonholonomic system
control motion task
systems on Lie groups
skaczący robot
manipulator przestrzenny
nieholonomiczny układ
Opis:: This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 759-770
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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