Dynamics-Based Piecewise Constant Control of an Omnivehicle

DOI10.20537/ND221102zbMath1529.70030OpenAlexW4313149096MaRDI QIDQ6054860

Unnamed Author, Alexandra A. Zobova

Publication date: 28 September 2023

Published in: Nelineinaya Dinamika (Search for Journal in Brave)

Full work available at URL: http://mathnet.ru/eng/nd818

zbMATH Keywords

Lyapunov stabilityparametric continuation methodconstant voltage dynamicsperfectly rough horizontal planepoint-to-point path planninguniversal wheel

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Control of mechanical systems (70Q05) Dynamics of multibody systems (70E55) Motion of a rigid body in contact with a solid surface (70E18)

Cites Work

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• Physically oriented simulation of the omnivehicle dynamics
• Solving Ordinary Differential Equations I
• On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass
• Research on the Dynamics of an Omnidirectional Platform Taking into Account Real Design of Mecanum Wheels (as Exemplified by KUKA youBot)
• A Study of the Controlled Motion of a Four-wheeled Mecanum Platform
• Control of a Vehicle with Omniwheels on a Plane

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