Article ID Journal Published Year Pages File Type
9662263 Computers & Mathematics with Applications 2005 10 Pages PDF
Abstract
This work deals with the stabilization and control of a system which is composed of a disk rolling on a plane, and a circular rotor plate fixed in the disk's plane. The disk's motion is controlled by the above-mentioned rotor, a “tillting moment” and a pedalling moment. It is shown here that by applying a kind of inverse dynamics control, the motion of the disk is stabilized about a given angle, while simultaneously controlling its speed and direction in such a manner that the point of contact between the disk and the horizontal plane will be able, during a given time interval [0, tf], to move from a given point. rA to a another given point rB, both of them fixed in the plane.
Related Topics
Physical Sciences and Engineering Computer Science Computer Science (General)
Authors
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