Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61388998%3A_____%2F08%3A00314535" target="_blank" >RIV/61388998:_____/08:00314535 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot
Original language description
This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simulation results are presented.
Czech name
Přímá linearizace neholonomni dynamické soustavy aplikovaná na řízení robota
Czech description
Práce prezentuje dynamické modelování neholonomni soustavy sloužící k řízení.

Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Project
<a href="/en/project/GA101%2F06%2F0063" target="_blank" >GA101/06/0063: New computer approaches to investigation of nonlinear and chaotic vibration of rotors and drives due to their interaction with the neighbourhood</a><br>
Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year
2008
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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