CONTROL OF SOCCER ROBOT USING EXACT LINEARIZATION
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F08%3APU76250" target="_blank" >RIV/00216305:26220/08:PU76250 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
CONTROL OF SOCCER ROBOT USING EXACT LINEARIZATION
Original language description
The paper describes dynamic modeling of a nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order differential equations. Further, the exact linearization is performed and finally a decoupled system of two independent integrator chains is obtained. Next we describe the controller design, and at the end, the simulation results are presented.
Czech name
Řízení fotbalového mobilního robotu pomocí zpětnovazební lienarizace
Czech description
Článek popisuje řízení fotbalového mobilního robotu kategorie FIRA MIROSOT pomocí dynamické zpětnovazební lienarizace.
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2008
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2008): June 19 - 21, 2008, Linz, Austria
ISBN
978-3-8370-6599-2
ISSN
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e-ISSN
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Number of pages
256
Pages from-to
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Publisher name
Books on Demand Gmbh
Place of publication
Norderstedt, Germany
Event location
Linz
Event date
Jun 19, 2008
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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