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Avtomatika i Telemekhanika, 2009, Issue 5, Pages 76–94 (Mi at471)  
This article is cited in 3 scientific papers (total in 3 papers)

Deterministic Systems

Control of wheel system under uncertainty

V. I. Matyukhin

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
Full-text PDF (248 kB) Citations (3)
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Abstract: Consideration was given to the nonholonomic mechanical systems with rolling or the wheel systems such as mobile robot, car, or wheeled tractor. Analysis was confined to the kinematic models with regard for the dynamics of the controlling drives. Control of system motion along a given trajectory (planar smooth curve) was studied. The designed control law stabilizes this motion in large in the basic variables. The main result lies in solution of the problem of control under uncertainty when only sufficiently general dynamic characteristics of the wheel system drive are known.
Presented by the member of Editorial Board: L. B. Rapoport

Received: 07.02.2008
English version:
Automation and Remote Control, 2009, Volume 70, Issue 5, Pages 811–828
DOI: https://doi.org/10.1134/S0005117909050099
Bibliographic databases:
Document Type: Article
PACS: 45.80.+r
Language: Russian
Citation: V. I. Matyukhin, “Control of wheel system under uncertainty”, Avtomat. i Telemekh., 2009, no. 5, 76–94; Autom. Remote Control, 70:5 (2009), 811–828
Citation in format AMSBIB
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    • This publication is cited in the following 3 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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