Abstract
Mechanical wheeled systems (WS) such as a wheeled tractor, a motor car, a mobile robot, etc. are studied. The well-known trajectory problem, i.e., the problem of controlling the WS motion along a given trajectory, is considered. This problem was solved earlier in the framework of kinematic WS models. The present paper deals with general WS models that additionally take into account inertial properties such as the WS masses and/or moments of inertia. We establish that the WS are subjected to rather significant perturbing forces. A control law stabilizing the WS motion along a given trajectory is constructed.
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Original Russian Text © V.I. Matyukhin, 2013, published in Izvestiya Akademii Nauk. Mekhanika Tverdogo Tela, 2013, No. 3, pp. 10–21.
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Matyukhin, V.I. Control of a wheeled system taking into account its inertial properties. Mech. Solids 48, 243–253 (2013). https://doi.org/10.3103/S0025654413030023
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DOI: https://doi.org/10.3103/S0025654413030023