Modelling and control of the motion of a disk rolling on a spherical dome

被引：5

作者：

Yavin, Y ^{[1
]}

机构：

[1] Univ Pretoria, Dept Elect & Elect Engn, ZA-0002 Pretoria, South Africa

来源：

MATHEMATICAL AND COMPUTER MODELLING | 2002年 / 35卷 / 9-10期

关键词：

rolling disk; spherical dome; nonholonomic constraints; asymptotic stability; asymptotic tracking;

D O I：

10.1016/S0895-7177(02)00060-2

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This work deals with the modelling and control of the motion of a disk rolling without slipping on a rigid spherical dome. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. First, a mathematical model of the motion of the disk rolling on the dome is derived. Then, by using a kind of an inverse control transformation, a control strategy is proposed under which the motion of the disk is stabilized and is able asymptotically to track any smooth trajectory which is located on the spherical dome. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：931 / 939

页数：9

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