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Statements

Subject Item
n2:RIV%2F61388998%3A_____%2F08%3A00314535%21RIV09-AV0-61388998
rdf:type
n9:Vysledek skos:Concept
dcterms: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. Práce prezentuje dynamické modelování neholonomni soustavy sloužící k řízení.
dcterms:title
Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot Přímá linearizace neholonomni dynamické soustavy aplikovaná na řízení robota
skos:prefLabel
Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot Exact Linearization of Nonholonomic System Dynamics Applied to Control of Differentially Driven Soccer Robot Přímá linearizace neholonomni dynamické soustavy aplikovaná na řízení robota
skos:notation
RIV/61388998:_____/08:00314535!RIV09-AV0-61388998
n4:aktivita
n13:Z n13:P
n4:aktivity
P(GA101/06/0063), Z(AV0Z20760514)
n4:cisloPeriodika
5
n4:dodaniDat
n10:2009
n4:domaciTvurceVysledku
n5:6119018 n5:7132514
n4:druhVysledku
n16:J
n4:duvernostUdaju
n14:S
n4:entitaPredkladatele
n18:predkladatel
n4:idSjednocenehoVysledku
367040
n4:idVysledku
RIV/61388998:_____/08:00314535
n4:jazykVysledku
n7:eng
n4:klicovaSlova
nonholonomic system dynamics; soccer robot
n4:klicoveSlovo
n17:soccer%20robot n17:nonholonomic%20system%20dynamics
n4:kodStatuVydavatele
CZ - Česká republika
n4:kontrolniKodProRIV
[C38B72B07491]
n4:nazevZdroje
Engineering Mechanics
n4:obor
n15:JD
n4:pocetDomacichTvurcuVysledku
2
n4:pocetTvurcuVysledku
5
n4:projekt
n8:GA101%2F06%2F0063
n4:rokUplatneniVysledku
n10:2008
n4:svazekPeriodika
15
n4:tvurceVysledku
Lee, B. Šolc, F. Grepl, Robert Kratochvíl, Ctirad Hrabec, J.
n4:zamer
n11:AV0Z20760514
s:issn
1802-1484
s:numberOfPages
8