Feasible command strategies for the control of motion of a simple mobile robot |
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Authors: | Y Yavin C Frangos |
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Institution: | (1) Laboratory for Decision and Control, Department of Electrical and Electronic Engineering, University of Pretoria, Pretoria, South Africa |
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Abstract: | The concept of feasible command strategies is introduced and its applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. The motion of the disk-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. In addition, the concept of path controllability is introduced and a condition is derived for the system motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system motion. |
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Keywords: | Feasible command strategies rolling disk controlled pivoted slender rod nonholonomic constraints path controllability |
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