Email this article Feedback control system for a wheel mechanism
- Authors: Rogachev G.N1, Uchaev E.S1
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Affiliations:
- Samara State Technical University
- Issue: Vol 20, No 2 (2012)
- Pages: 27-32
- Section: Articles
- URL: https://journals.eco-vector.com/1991-8542/article/view/19681
- DOI: https://doi.org/10.14498/tech.2012.2.%25u
- ID: 19681
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Abstract
The paper is devoted to the problem of controlling wheel mechanisms movement. The analysis
of available ways of movement control is made. Their low efficiency is shown provided uncontrollable
disturbances are present. A Feedback control system which surpasses the existing
ones is developed.
of available ways of movement control is made. Their low efficiency is shown provided uncontrollable
disturbances are present. A Feedback control system which surpasses the existing
ones is developed.
About the authors
Gennadiy N Rogachev
Samara State Technical University
Email: grogachev@mail.ru
(к.т.н., доц.), доцент каф. автоматики и управления в технических системах; Самарский государственный технический университет; Samara State Technical University
Evgeny S Uchaev
Samara State Technical University
Email: grogachev@mail.ru
магистрант; Самарский государственный технический университет; Samara State Technical University
References
- Banavar R.N. Control of the Nonholonomic Integrator. - A Talk at University of Twente, 2005, pp. 1-44.
- Wang H.-F., Chen Y.-Z. Time-optimal Trajectories for a Car-like Robot Acta Automatica Sinica, Vol. 34, No. 4, April, 2008, pp. 445-452.
- Liberzon D. Switching in systems and control, Birkhauser, Boston - Basel - Berlin 2003, pp. 83-89.
- Hespanha J.P., Morse A.S. Stabilization of Nonholonomic Integrators via Logic-Based Switching - Automatica, Volume 35, Number 3, 1999. - pp. 385-393.
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