Control-based Approach to Numerical Integration of Rolling Equations

被引:0
|
作者
Pesterev, Alexander, V [1 ]
Matrosov, Ivan, V [2 ]
Morozov, Yurii, V [1 ]
机构
[1] Russian Acad Sci, Inst Control Sci, Moscow 117997, Russia
[2] Javad GNSS, Moscow 125057, Russia
来源
IFAC PAPERSONLINE | 2020年 / 53卷 / 02期
基金
俄罗斯基础研究基金会;
关键词
Constrained mechanical systems; differential-algebraic equations; feedback linearization; ball-shaped robot; numerical integration;
D O I
10.1016/j.ifacol.2020.12.2452
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In the paper, an approach to numerical integration of equations governing motion of constrained mechanical systems is suggested. In the framework of this approach, unknown reaction forces acting on the system are treated as controls, and the algebraic equations that these reactions satisfy, as control goals. On the basis of the suggested approach, a technique for numerical solving equations of rolling is developed. The discussion is illustrated by the example of application of the algorithm to solving the problem of a heavy wheel with a pendulum (a prototype of a ball-shaped robot) rolling along a curvilinear profile without slippage. Copyright (C) 2020 The Authors.
引用
收藏
页码:9602 / 9607
页数:6
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