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Avtomatika i Telemekhanika, 2006, Issue 9, Pages 69–89 (Mi at1235)  

This article is cited in 34 scientific papers (total in 34 papers)

Deterministic Systems

Estimation of attraction domains in wheeled robot control

L. B. Rapoport

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
References:
Abstract: Considered is the control design problem for planar motion of a wheeled robot. The mathematical model of the robot accounts for kinematic relationships between the velocity of a given point of chassis referred to as the reference point, orientation of the chassis, and control. Among the kinematic relations is the requirement that each of the four wheels perform a slip-free motion. The rear wheels are assumed to be driving while the front wheels are responsible for the rotation of the chassis. The control objective is to place the reference point in the prespecified trajectory and to stabilize the motion of the reference point along the prespecified trajectory. The trajectory consists of line segments and circular arcs. In the mathematical model under consideration, the current curvature of the trajectory of the reference point is taken as control; it is related to the steering angle of the front wheels by a simple algebraic expression. The control is subject to two-sided constraints due to limitations on the steering angle of the front wheels. For the control law proposed, the attraction domain in the space “distance to the trajectory – orientation” is analyzed. For the initial conditions from this domain, the system is guaranteed to hit a trajectory with given index of exponential stability.
Presented by the member of Editorial Board: B. T. Polyak

Received: 21.02.2006
English version:
Automation and Remote Control, 2006, Volume 67, Issue 9, Pages 1416–1435
DOI: https://doi.org/10.1134/S0005117906090062
Bibliographic databases:
Document Type: Article
PACS: 45.80.+r
Language: Russian
Citation: L. B. Rapoport, “Estimation of attraction domains in wheeled robot control”, Avtomat. i Telemekh., 2006, no. 9, 69–89; Autom. Remote Control, 67:9 (2006), 1416–1435
Citation in format AMSBIB
\Bibitem{Rap06}
\by L.~B.~Rapoport
\paper Estimation of attraction domains in wheeled robot control
\jour Avtomat. i Telemekh.
\yr 2006
\issue 9
\pages 69--89
\mathnet{http://mi.mathnet.ru/at1235}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=2266471}
\zmath{https://zbmath.org/?q=an:1194.93150}
\transl
\jour Autom. Remote Control
\yr 2006
\vol 67
\issue 9
\pages 1416--1435
\crossref{https://doi.org/10.1134/S0005117906090062}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-33749023865}
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  • https://www.mathnet.ru/eng/at/y2006/i9/p69
  • This publication is cited in the following 34 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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