Controllability and stabilization of programmed motions of an automobile-type transport robot |
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| Institution: | 1. Department of Industrial Engineering, College of Engineering, University of Tehran, Iran;2. Centre for Maritime Studies, National University of Singapore, Singapore, Singapore;3. Department of Industrial Engineering, Amirkabir University of Technology, Tehran, Iran;4. Institute of Transport and Maritime Management Antwerp (ITMMA), University of Antwerp, Belgium;5. Antwerp Maritime Academy, Antwerp, Belgium;1. Department of Mechanical Engineering, Yonsei University, 262, Seongsanno, Seodamun-gu, Seoul 120-749, Republic of Korea;2. Robogen, RM133, Yonsei Engineering Research Park, 262, Seongsanno, Seodaemun-gu, Seoul 120-749, Republic of Korea;1. School of Business Administration, Wayne State University, 320 Prentis Building, Detroit, MI 48202, USA;2. Department of Engineering and Public Policy, Carnegie Mellon University, Pittsburgh, PA 15213, USA;3. Department of Social and Decision Sciences, Carnegie Mellon University, Pittsburgh, PA 15213, USA;1. College of Automation, Chongqing University, Chongqing 400044, China;2. College of Chemistry and Chemical Engineering, Chongqing University, Chongqing 400044, China |
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| Abstract: | A non-linear model of the motion of an automobile-type transport robot (TR) with absolutely rigid wheels, a steering device and actuators based on DC motors, is considered. Such a model for TR motion is a non-holonomic electromechanical system and, if the dynamics of the actuators and the steering device (forces of elasticity and attenuation in its elements) is ignored, corresponds to the model of automobile motion devised by Lineikin 1]. Non-linear canonical transformations of the state and control space coordinates are constructed which reduce the initial equations of motion of the TR to a simpler canonical form, convenient for the analysis and synthesis of control systems for the TR. These transformations are used to find the conditions for the controllability of the TR as a controlled object. Algorithms are given for constructing programmed controls and programmed motions of the TR. Stabilizing control laws are synthesized that make the programmed motions of the TR asymptotically stable and guarantee that the transients will have preassigned properties |
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