Control of The Rolling Motion of a Spherical Robot on an Inclined Plane

 
PIIS086956520002923-8-1
DOI10.31857/S086956520002923-8
Publication type Article
Status Published
Authors
Occupation: Research Fellow
Affiliation: Udmurt State University
Address: Russian Federation, Izhevsk
Affiliation: Udmurt State University
Address: Russian Federation, Izhevsk
Occupation: 
Affiliation: Udmurt State University
Address: Russian Federation, Izhevsk
Journal nameDoklady Akademii nauk
EditionVolume 482 Issue 6
Pages655-660
Abstract

In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical simulation of the controlled motion are given.

Keywords
Received06.12.2018
Publication date13.12.2018
Cite   Download pdf To download PDF you should sign in
Размещенный ниже текст является ознакомительной версией и может не соответствовать печатной

views: 1699

Readers community rating: votes 0

1. Ivanova T.B., Kilin A.A., Pivovarova E.N. Upravlyaemoe dvizhenie sfericheskogo robota mayatnikovogo tipa na naklonnoj ploskosti // Doklady akademii nauk. 2018 (v pechati).

2. Ivanova T.B., Pivovarova E.N. Dinamika i upravlenie sfericheskim robotom s osesimmetrichnym mayatnikovym privodom // Nelinejnaya dinamika. 2013. T. 9. №3. S. 507–520.

3. Borisov A.V., Mamaev I. S. Two Non-holonomic Integrable Problems Tracing Back to Chaplygin // Regul. Chaotic Dyn. 2012. V. 17. №2. P. 191–198.

4. Kilin A.A., Pivovarova E.N., Ivanova T. B. Spherical Robot of Combined Type: Dynamics and Control // Regul. Chaotic Dyn. 2015. V. 20. №6. P. 716–728.

5. Balandin D. V., Komarov M.A., Osipov G.V. Upravlenie dvizheniem sferi- cheskogo robota s mayatnikovym privodom // Izvestiya RAN. Teoriya i sistemy upravleniya. 2013. №4. S. 150–163.

6. Borisov A.V., Mamaev I. S., Bizyaev I.A. The Hierarchy of Dynamics of a Rigid Body Rolling Without Slipping and Spinning on a Plane and a Sphere // Regul. Chaotic Dyn. 2013. V. 18.№3. P. 277–328.

7. Borisov A.V., Mamaev I. S. Izomorfizm i gamil'tonovo predstavlenie nekotorykh negolonomnykh sistem // Sibirskij matematicheskij zhurnal. 2007. T. 48. №1. S. 33–45.

8. Bizyaev I.A., Borisov A.V., Mamaev I. S. The Dynamics of Nonholonomic Systems Consisting of a Spherical Shell with a Moving Rigid Body Inside // Regul. Chaotic Dyn. 2014. V. 19. №. 2. P. 198–213.

9. Ivanova T.B., Kilin A.A., Pivovarova E. N. Controlled Motion of a Spherical Robot with Feedback. I // J. Dyn. Control Syst. 2017. https://doi.org/10.1007/s10883-017-9387-2

Система Orphus

Loading...
Up