Title :
Steering the Chaplygin Sleigh by a Moving Mass
Author :
Osborne, Jason M. ; Zenkov, Dmitry V.
Author_Institution :
Department of Mathematics, North Carolina State University, Raleigh, NC 27695, jmosborn@unity.ncsu.edu
Abstract :
In this paper we design a steering control algorithm for the Chaplygin sleigh with a moving mass. Our strategy is to only use the controlled dynamics to initiate short-time transitions between the various uncontrolled modes of the system in order to achieve the desired direction of motion.
Keywords :
Algorithm design and analysis; Blades; Control systems; Equations; Force control; Mathematics; Mechanical systems; Motion control; Shape control; Weight control;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582307
