Steering a Chaplygin Sleigh Using Periodic Impulses
Steering a Chaplygin Sleigh Using Periodic Impulses
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使用周期性脉冲驾驶查普利金雪橇
DOI：
10.1115/1.4036117
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发表时间：
2017
影响因子：
2
通讯作者：
Vitaliy Fedonyuk
中科院分区：
文献类型：
--
作者：
Phanindra Tallapragada;Vitaliy Fedonyuk
非完整系统的运动控制在机器人领域具有重要的应用价值。本文考虑由内动量轮运动推动的类小车系统的动力学问题。这是Chaplygin雪橇的一个改进，一个规范的非完整系统。对于所考虑的系统，动量轮是机车推力的唯一手段，也是唯一的控制输入。我们首先推导出雪橇航向角随初速度和角速度变化的解析表达式。我们利用这个解决方案设计了一个开环控制策略，可以改变雪橇的方向到任何期望的角度。该算法通过动量轮的运动利用周期性脉冲转矩输入。
The control of the motion of nonholonomic systems is of practical importance from the perspective of robotics. In this paper we consider the dynamics of a cart-like system that is both propelled forward by motion of an internal momentum wheel. This is a modification of the Chaplygin sleigh, a canonical nonholonomic system. For the system considered, the momentum wheel is the sole means of locomotive thrust as well the only control input. We first derive an analytical expression for the change in the heading angle of the sleigh as a function of its initial velocity and angular velocity. We use this solution to design an open loop control strategy that changes the orientation of sleigh to any desired angle. The algorithm utilizes periodic impulsive torque inputs via the motion of the momentum wheel.