非完整齿轮刚性三摆轨迹跟踪

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201422

A. Mazur, L. Nocek

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引用次数: 2

摘要

本文给出了非完整三摆轨迹跟踪问题的一种求解方法。所提出的控制算法既考虑了非完整系统的运动学特性，又考虑了系统的动力学特性。运动学控制器是用于链式系统的Jiang & Nijmeijer控制器，动态控制器是Oya等控制算法的一个版本。用模拟说明了理论考虑。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory tracking for rigid 3-pendulum with nonholonomic gears

In this paper a solution to the trajectory tracking problem for nonholonomic 3-pendulum has been presented. The proposed control algorithm takes into considerations the kinematics as well as the dynamics of the nonholonomic system. Kinematic controller is the Jiang & Nijmeijer controller for chained systems and dynamic controller is a version of the Oya et al. control algorithm. Theoretical considerations have been illustrated with simulations.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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