Title :
Trajectory tracking for rigid 3-pendulum with nonholonomic gears
Author :
Mazur, A. ; Nocek, L.
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
Abstract :
In this paper a solution to the trajectory tracking problem for nonholonomic 3-pendulum has been presented. The proposed control algorithm takes into considerations the kinematics as well as the dynamics of the nonholonomic system. Kinematic controller is the Jiang & Nijmeijer controller for chained systems and dynamic controller is a version of the Oya et al. control algorithm. Theoretical considerations have been illustrated with simulations.
Keywords :
gears; manipulator dynamics; manipulator kinematics; nonlinear control systems; pendulums; Jiang & Nijmeijer controller; chained systems; control algorithm; dynamic controller; kinematic controller; manipulators; nonholonomic 3-pendulum; nonholonomic gears; nonholonomic system; rigid 3-pendulum; system dynamics; system kinematics; trajectory tracking; Angular velocity; Control systems; Cybernetics; Equations; Gears; Kinematics; Manipulator dynamics; Robots; Trajectory; Wheels;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201422
