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Regular and Chaotic Dynamics, 2015, Volume 20, Issue 2, Pages 153–172
DOI: https://doi.org/10.1134/S1560354715020045 (Mi rcd50) 		 
This article is cited in 47 scientific papers (total in 47 papers)

Dynamics and Control of an Omniwheel Vehicle

Alexey V. Borisovab, Alexander A. Kilina, Ivan S. Mamaevac

a Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
b Moscow Institute of Physics and Technology, Institutskii per. 9, Dolgoprudnyi, 141700 Russia
c Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
Citations (47)
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DOI: https://doi.org/10.1134/S1560354715020045
Abstract: A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is considered. A derivation of equations is presented and the dynamics of a free system are investigated. An explicit motion control algorithm for the omniwheel vehicle moving along an arbitrary trajectory is obtained.
Keywords: omniwheel, roller-bearing wheel, nonholonomic constraint, dynamical system, invariant measure, integrability, controllability.
Funding agency Grant number
Russian Science Foundation 14-19-01303
The research concerned with controllability analysis was supported by the grant of the Russian Science Foundation (project no. 14-19-01303). The investigation of free dynamics was carried out within the framework of the state assignment for institutions of higher education.
Received: 14.01.2015
Bibliographic databases:
Document Type: Article
MSC: 70F25, 70E18, 70E55, 70E60
Language: English
Citation: Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 20:2 (2015), 153–172
Citation in format AMSBIB
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\by Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev
\paper Dynamics and Control of an Omniwheel Vehicle
\jour Regul. Chaotic Dyn.
\yr 2015
\vol 20
\issue 2
\pages 153--172
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    • This publication is cited in the following 47 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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