Аннотация:
This paper presents the results of the study of the dynamics of a real spherical robot of combined type in the case of control using small periodic oscillations. The spherical robot is set in motion by controlled change of the position of the center of mass and by generating variable gyrostatic momentum. We demonstrate how to use small periodic controls for stabilization of the spherical robot during motion. The results of numerical simulation are obtained for various initial conditions and control parameters that ensure a change in the position of the center of mass and a variation of gyrostatic momentum. The problem of the motion of a spherical robot of combined type on a surface that performs flat periodic oscillations is also considered. The results of numerical simulation are obtained for different initial conditions, control actions and parameters of oscillations.
Ключевые слова:
spherical robot, nonholonomic constraint, small periodic control actions, stabilization.
The work of Yu. L.Karavaev (Sections 3, 4) was supported by the Russian Science Foundation under
grant 18-71-00096. The work of A.A.Kilin (Sections 1, 2) was supported by the Russian Science Foundation under grant 19-71-30012 and performed in Steklov Mathematical Institute of Russian Academy of Sciences.
Поступила в редакцию: 20.05.2019 Принята в печать: 12.07.2019
Образец цитирования:
Yu. L. Karavaev, A. A. Kilin, “The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions”, Rus. J. Nonlin. Dyn., 15:4 (2019), 497–504
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Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/nd676
https://www.mathnet.ru/rus/nd/v15/i4/p497
Эта публикация цитируется в следующих 3 статьяx:
Е. А. Микишанина, “Динамика качения сферического робота с маятниковым приводом, управляемого сервосвязью Билимовича”, ТМФ, 211:2 (2022), 281–294; E. A. Mikishanina, “Rolling motion dynamics of a spherical robot with a pendulum actuator controlled by the Bilimovich servo-constraint”, Theoret. and Math. Phys., 211:2 (2022), 679–691
I. S. Mamaev, E. V. Vetchanin, Yu. L. Karavaev, E. M. Artemova, “Dynamics of a Spherical Robot With Variable Moments of Inertia and a Displaced Center of Mass”, Regul. Chaotic Dyn., 25:6 (2020), 689–706
Yury Karavaev, Alexander Kilin, Anton Klekovkin, Elena Pivovarova, 2020 International Conference Nonlinearity, Information and Robotics (NIR), 2020, 1
Цитирование в формате AMSBIB
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