Controllability and stabilization of the programmed motions of a transport robot (Q2761360)
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scientific article; zbMATH DE number 1683405
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Controllability and stabilization of the programmed motions of a transport robot |
scientific article; zbMATH DE number 1683405 |
Statements
18 December 2001
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transport robot
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nonholonomic electromechanical system
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constant current engine
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caterpillar track
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controllability
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asymptotic stability
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0.90312386
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0.89221835
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Controllability and stabilization of the programmed motions of a transport robot (English)
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The author studies nonlinear equations of motion of a transport robot on caterpillar tracks driven by constant current engines (a nonholonomic electromechanical system). A condition for controllability is found, and a control is designed which ensures the asymptotic stability of system motion.
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