Posture Balance and Path Tracking Control of Thin Disk Rolling without Slipping
Posture balance and path tracking control of disk rolling without slipping on the horizontal plane was researched. Non-holonomic restriction model of disk rolling without slipping was built, considering most easiness of disk posture control, a posture balance condition was put forward, and based on the posture balance condition, using Lyapunovs stability design theory, angle velocity control strategy was acquired, and using Backstepping design method, path tracking control strategy on the horizontal plane was designed, finally, by use of simulation, it is proved that posture balance control strategy was valid, and path tracking control strategy is stable, rapid and precise.
component disk non-holonomic system path tracking posture balance
Xiuying Han Shutao Zhang Yanbin Liu Jianhai Han
School of Mechatronical Engineering Henan University of Science and Technology Luoyang, China
国际会议
太原
英文
545-549
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）