68184

Автор(ы): 

Автор(ов): 

1

Параметры публикации

Тип публикации: 

Доклад

Название: 

Control of a Mobile Cart with Two Traction Rear Wheels and a Free Front Wheel

Электронная публикация: 

Да

ISBN/ISSN: 

978-3-030-85233-7

DOI: 

10.1007/978-3-030-85233-7_88

Наименование конференции: 

  • 7th International Conference on Industrial Engineering (ICIE 2021, Sochi)

Наименование источника: 

  • Lecture Notes in Mechanical Engineering (Proceedings of the 7th International Conference on Industrial Engineering)

Обозначение и номер тома: 

Vol. 1

Город: 

  • Berlin/Heidelberg, Germany

Издательство: 

  • Springer

Год издания: 

2022

Страницы: 

751-763
Аннотация
The problem of control for the mobile cart with two traction rear wheels and free front wheel is considered in the paper. The traction wheels are governed by two mechanically independent direct current drive motor. The free wheel can turn around your mounting point. The problem of the desired path following with given linear velocity is stated in the paper under assumption that mobile robot is interfered by external perturbations, which physically represent the external force actions, wind blowing, friction force and so on. Due to this aim, the combined control law, which consists of continuous and discontinuous components, is synthesized in the paper. The discontinuous term provides oscillation mode of the transient process in the closed system, and continuous component leads to decaying of the oscillation amplitude of the output variables asymptotically to zero. The simulation results depict the efficiency of the designed algorithm.

Библиографическая ссылка: 

Кочетков С.А. Control of a Mobile Cart with Two Traction Rear Wheels and a Free Front Wheel / Lecture Notes in Mechanical Engineering (Proceedings of the 7th International Conference on Industrial Engineering). Berlin/Heidelberg, Germany: Springer, 2022. Vol. 1. С. 751-763.