Advertisement

International Applied Mechanics

, Volume 43, Issue 7, pp 800–808 | Cite as

Stabilization of a wheeled robotic vehicle

  • V. B. Larin
Article

Abstract

The paper addresses the problem of synthesizing a stabilization system for a robotic vehicle with two steerable wheels with allowance for dynamic effects. A solution is presented for the case of coasting. The general case of stabilization where dynamic effects are taken into account is examined

Keywords

wheeled robotic vehicle stabilization system dynamic effects 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    H. Kwakernaak and R. Sivan, Linear Optimal Control Systems, Wiley, New York (1972).MATHGoogle Scholar
  2. 2.
    V. B. Larin, “On stabilization of motions of system with nonholonomic constraints,” J. Autom. Inform. Sci., 38, No. 4, 8–22 (2006).CrossRefMathSciNetGoogle Scholar
  3. 3.
    A. M. Bloch, Nonholonomic Mechanics and Control, Springer-Verlag, New York (2003).MATHGoogle Scholar
  4. 4.
    A. M. Bloch, M. Reyhanoglu, and A. McClamroch, “Control and stabilization of nonholonomic dynamic systems,” IEEE Trans., Automat. Control, 37, No. 11, 1746–1757 (1992).MATHCrossRefMathSciNetGoogle Scholar
  5. 5.
    Fazal-ur-Rehman, “Steering of nonholonomic mobile robots by using differential geometric approach,” Appl. Comp. Math., 1, No. 2, 131–141 (2002).MathSciNetGoogle Scholar
  6. 6.
    V. B. Larin, “Motion planning for a wheeled robot (kinematic approximation),” Int. Appl. Mech., 41, No. 2, 187–196 (2005).CrossRefGoogle Scholar
  7. 7.
    V. B. Larin, “Control of wheeled robots,” Int. Appl. Mech., 41, No. 4, 441–448 (2005).CrossRefMathSciNetGoogle Scholar
  8. 8.
    V. B. Larin, “Motion planning for a mobile robot with two steerable wheels,” Int. Appl. Mech., 41, No. 5, 552–559 (2005).CrossRefMathSciNetGoogle Scholar
  9. 9.
    V. B. Larin, “Motion planning in the presence of nonholonomic constraints,” Int. J. Appl. Math. Mech., 2, 96–108 (2005).Google Scholar
  10. 10.
    V. B. Larin, “Stabilization of a wheeled robotic vehicle subject to dynamic effects,” Int. Appl. Mech., 41, No. 9, 1061–1070 (2006).CrossRefGoogle Scholar
  11. 11.
    R. M. Murray and S. S. Sastry, “Nonholonomic motion planning: Steering using sinusoids,” IEEE Trans., Automat. Control, 38, No. 5, 700–716 (1993).MATHCrossRefMathSciNetGoogle Scholar

Copyright information

© Springer Science+Business Media, Inc. 2007

Authors and Affiliations

  • V. B. Larin
    • 1
  1. 1.S. P. Timoshenko Institute of MechanicsNational Academy of Sciences of UkraineKyiv

Personalised recommendations