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Journal of Automation and Information Sciences

Выходит 12 номеров в год

ISSN Печать: 1064-2315

ISSN Онлайн: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

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On Control of Composite Wheeled Vehicle with Three Steering Wheels

Том 42, Выпуск 1, 2010, pp. 68-78
DOI: 10.1615/JAutomatInfScien.v42.i1.60
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Краткое описание

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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