Dynamics and control of an omniwheel vehicle

被引：0
|
作者：
Alexey V. Borisov
Alexander A. Kilin
Ivan S. Mamaev
机构：
[1] Udmurt State University,
[2] Moscow Institute of Physics and Technology,undefined
[3] Kalashnikov Izhevsk State Technical University,undefined
来源：
Regular and Chaotic Dynamics | 2015年 / 20卷
关键词：
omniwheel; roller-bearing wheel; nonholonomic constraint; dynamical system; invariant measure; integrability; controllability; 70F25; 70E18; 70E55; 70E60;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is considered. A derivation of equations is presented and the dynamics of a free system are investigated. An explicit motion control algorithm for the omniwheel vehicle moving along an arbitrary trajectory is obtained.
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页码：153 / 172
页数：19
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