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Description
  • This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simulation results are presented.
  • This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simulation results are presented. (en)
  • Práce prezentuje dynamické modelování neholonomni soustavy sloužící k řízení. (cs)
Title
  • Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot
  • Přímá linearizace neholonomni dynamické soustavy aplikovaná na řízení robota (cs)
  • Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot (en)
skos:prefLabel
  • Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot
  • Přímá linearizace neholonomni dynamické soustavy aplikovaná na řízení robota (cs)
  • Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot (en)
skos:notation
  • RIV/61388998:_____/08:00314535!RIV09-AV0-61388998
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GA101/06/0063), Z(AV0Z20760514)
http://linked.open...iv/cisloPeriodika
  • 5
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 367040
http://linked.open...ai/riv/idVysledku
  • RIV/61388998:_____/08:00314535
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • nonholonomic system dynamics; soccer robot (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [C38B72B07491]
http://linked.open...i/riv/nazevZdroje
  • Engineering Mechanics
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 15
http://linked.open...iv/tvurceVysledku
  • Grepl, Robert
  • Kratochvíl, Ctirad
  • Hrabec, J.
  • Šolc, F.
  • Lee, B.
http://linked.open...n/vavai/riv/zamer
issn
  • 1802-1484
number of pages
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