Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 2015, том 20, выпуск 2,страницы 153

Эта публикация цитируется в 47 статьях

Dynamics and Control of an Omniwheel Vehicle

Alexey V. Borisov^ab, Alexander A. Kilin^a, Ivan S. Mamaev^ac

^a Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
^b Moscow Institute of Physics and Technology, Institutskii per. 9, Dolgoprudnyi, 141700 Russia
^c Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia

Аннотация: 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.

Ключевые слова: omniwheel, roller-bearing wheel, nonholonomic constraint, dynamical system, invariant measure, integrability, controllability.

MSC: 70F25, 70E18, 70E55, 70E60

Поступила в редакцию: 14.01.2015

Язык публикации: английский

DOI: 10.1134/S1560354715020045