Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc—Numerical Solutions

Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc—Numerical Solutions

We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are formulated, and their...

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Bibliographic Details
Main Authors: Marek Stodola, Matej Rajchl, Martin Brablc, Stanislav Frolík, Václav Křivánek
Format: Article
Language:English
Published: MDPI AG 2021-07-01
Series:Robotics
Subjects:
differential drive wheeled mobile robot
geometric control theory
Lie algebra
non-holonomics mechanics
nilpotent approximation
optimal control
Online Access:https://www.mdpi.com/2218-6581/10/3/88

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https://www.mdpi.com/2218-6581/10/3/88

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