Journal of Automation and Information Sciences
Published 12 issues per year
ISSN Print: 1064-2315
ISSN Online: 2163-9337
SJR:
0.173
SNIP:
0.588
CiteScore™::
2
Indexed in
On Control of Composite Wheeled Vehicle with Three Steering Wheels
Volume 42,
Issue 1, 2010,
pp. 68-78
DOI: 10.1615/JAutomatInfScien.v42.i1.60
ABSTRACT
The control problem of double-link wheeled transport robot with three steering wheels is considered in kinematic approach. For this object the algorithms of program trajectory selection, the synthesis of stabilization system and synthesis of servosystem are offered. It is noted, that as a result of using the offered synthesis algorithms of stabilization system and servosystem there are obtained the true nonlinear algorithms. The good performance of these algorithms is not limited only by small initial deviations. To demonstrate the efficiency of the given approach some examples were considered.
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