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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
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.
Received: 14.01.2015
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
Linking options:
https://www.mathnet.ru/eng/rcd50 https://www.mathnet.ru/eng/rcd/v20/i2/p153
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Abstract page: | 267 | References: | 54 |
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