Title :
Tracking control of a rolling disk
Author :
Frangos, C. ; Yavin, Y.
Author_Institution :
Dept. of Stat., Rand Afrikaans Univ., Johannesburg, South Africa
fDate :
4/1/2000 12:00:00 AM
Abstract :
The tracking control of a disk rolling without slipping on the horizontal (X, Y)-plane is considered. The motion of the disk can be controlled via a tilting torque and a pedaling torque. The concept of path controllability of the disk is introduced and then used to calculate control laws such that the disk tracks a given path in the (X, Y)-plane
Keywords :
controllability; feedback; function approximation; path planning; position control; tracking; path controllability; pedaling torque; rolling disk; tilting torque; tracking control; Africa; Controllability; Feedback control; Mobile robots; Motion control; Nonlinear systems; Optimal control; Remotely operated vehicles; Torque control; Vehicle dynamics;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.836385
