- 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