Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
9662322 | Computers & Mathematics with Applications | 2005 | 11 Pages |
Abstract
This work deals with the stabilization and control of a system which is composed of a disk rolling on a plane, a translational joint attached along the disk's axis, and a controlled rod that moves along the translational joint (see Figures 1 and 2). The disk's motion is controlled by the moving rod, a “directional control” 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, 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 asymptotically to track any given smooth ground trajectory.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Science (General)
Authors
Y. Yavin,