Stabilization of translational-rotational motion of uniaxial wheeled platform along a linear trajectory

The problem of stabilization of a uniaxial wheeled platform with the property of being an upper inverted pendulum along a program trajectory is considered. Control problems for the center of mass of the platform and its stabilization about the center of mass in the horizontal and vertical planes are...

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Bibliographic Details
Published in:Journal of computer & systems sciences international 2010-10, Vol.49 (5), p.823-832
Main Authors: Sachkov, G. P., Feshchenko, S. V., Chernomorskiy, A. I.
Format: Article
Language:English
Subjects:
Center of mass
Construction specifications
Control
Engineering
Grounds
Mathematical analysis
Mechatronics
Platforms
Robotics
Sensors
Stabilization
Trajectories
Wheels
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Summary:The problem of stabilization of a uniaxial wheeled platform with the property of being an upper inverted pendulum along a program trajectory is considered. Control problems for the center of mass of the platform and its stabilization about the center of mass in the horizontal and vertical planes are solved. The specific feature of constructed controls is their continuous correction based on application of analytical relations of wheel interaction with a ground surface for providing nonholonomic constraints for the wheels and the surface.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230710050163