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Journal of Automation and Information Sciences

年間 12 号発行

ISSN 印刷: 1064-2315

ISSN オンライン: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

Indexed in

On Control of Composite Wheeled Vehicle with Three Steering Wheels

巻 42, 発行 1, 2010, pp. 68-78
DOI: 10.1615/JAutomatInfScien.v42.i1.60
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要約

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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