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Non-holonomic Constraints (non-holonomic + constraint)

Distribution by Scientific Domains

Engineering	50%

Selected Abstracts

Soft Decision with Soft Target for Car-like Mobile Vehicle in Dynamic Environment

IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING, Issue 4 2009
Yougen Chen Non-member
Abstract Online flexible operation of a car-like mobile vehicle with non-holonomic constraints in dynamic environment is still a very challenging problem because the surrounding situations are not qualified in static, knowledge is only partial and the execution is often associated with uncertainty. The difficulty lies in the setting of appropriate moving sub-targets in real-time to obtain a collision-free and low-cost path. In this paper, we present a new approach for the autonomous motion control of mobile vehicle in a narrow area with static and dynamic obstacles. It is based on the selection of sub-target points of vehicle's movement called ,soft target' which is a target set defined as all possible and reachable via-points in a navigation space. The soft target is acquired by online learning based on the final target and environment information. Each element of it has its membership value in [0, 1] denoting its evaluation degree. With the acquired soft target, soft decision is made like human's decision process by predictive fuzzy control (PFC) to achieve final target safely and economically. The simulation results show the effectiveness and flexibility of the proposed vehicle motion control method. © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. [source]

Time-varying linear controllers for exponential tracking of non-holonomic systems in chained form

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 7 2007
Yu-Ping Tian
Abstract In this paper, the authors address the tracking problem for non-holonomic systems in chained form with target signals that may exponentially decay to zero. By introducing a time-varying co-ordinate transformation and using the cascade-design approach, smooth time-varying controllers are constructed, which render the tracking-error dynamics globally ,,-exponentially stable. The result shows that the popular condition of persistent excitation or not converging to zero for the reference signals is not necessary even for the globally ,,-exponential tracking of the chained-form system. The effectiveness of the proposed controller is validated by simulation of two benchmark mechanical systems under non-holonomic constraints. Copyright © 2006 John Wiley & Sons, Ltd. [source]

On the variational formulation of systems with non-holonomic constraints

ANNALEN DER PHYSIK, Issue 9 2009
D.H. Delphenich
Abstract In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this article, it is shown that this same approach will also allow one to give a variational formulation to systems with non-holonomic constraints. The key is to use an adapted anholonomic local frame field in the formulation, which then implies the replacement of ordinary derivatives with covariant ones. The method is then applied to the case of a vertical disc rolling without slipping or friction on a plane. [source]