Geodesic
Dynamics-Based Piecewise Constant Control
Russian journal of nonlinear dynamics, Tome 18 (2022) no. 4, pp. 661-680

Voir la notice de l'article provenant de la source Math-Net.Ru

We consider the dynamics of an omnidirectional vehicle moving on a perfectly rough horizontal plane. The vehicle has three omniwheels controlled by three direct current motors. We study constant voltage dynamics for the symmetric model of the vehicle and get a general analytical solution for arbitrary initial conditions which is shown to be Lyapunov stable. Piecewise combination of the trajectories produces a solution to boundary-value problems for arbitrary initial and terminal mass center coordinates, course angles and their derivatives with one switch point. The proposed control combining translation and rotation of the vehicle is shown to be more energy-efficient than a control splitting these two types of motion. For the nonsymmetrical vehicle configuration, we propose a numerical procedure of solving boundary-value problems that uses parametric continuation of the solution obtained for the symmetric vehicle. It shows that the proposed type of control can be used for an arbitrary vehicle configuration.
Keywords: omnidirectional vehicle, omniwheel, universal wheel, dynamics-based control, piecewise control, point-to-point path planning. 
@article{ND_2022_18_4_a13,
     author = {G. N. Moiseev and A. A. Zobova},
     title = {Dynamics-Based {Piecewise} {Constant} {Control}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {661--680},
     publisher = {mathdoc},
     volume = {18},
     number = {4},
     year = {2022},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ND_2022_18_4_a13/}
}
TY  - JOUR
AU  - G. N. Moiseev
AU  - A. A. Zobova
TI  - Dynamics-Based Piecewise Constant Control
JO  - Russian journal of nonlinear dynamics
PY  - 2022
SP  - 661
EP  - 680
VL  - 18
IS  - 4
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2022_18_4_a13/
LA  - en
ID  - ND_2022_18_4_a13
ER  - 
%0 Journal Article
%A G. N. Moiseev
%A A. A. Zobova
%T Dynamics-Based Piecewise Constant Control
%J Russian journal of nonlinear dynamics
%D 2022
%P 661-680
%V 18
%N 4
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2022_18_4_a13/
%G en
%F ND_2022_18_4_a13
G. N. Moiseev; A. A. Zobova. Dynamics-Based Piecewise Constant Control. Russian journal of nonlinear dynamics, Tome 18 (2022) no. 4, pp. 661-680. http://geodesic.mathdoc.fr/item/ND_2022_18_4_a13/