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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN 印刷: 1064-2315
ISSN オンライン: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v42.i1.60
pages 68-78

On Control of Composite Wheeled Vehicle with Three Steering Wheels

Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine

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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