Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel
Joint Authors
Shushlyapin, E. A.
Bezuglaya, A. E.
Source
Journal of Applied Mathematics
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-19
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The paper is devoted to several examples of control algorithm development for two-wheeled double-track robot and low-tonnage vessel-catamaran with two Azipods that show practical aspects of the application of one nonlinear system control method — terminal state method.
This method, developed by the authors of the present paper, belongs to the class of methods for inverse dynamics problem solving.
Mathematical models of control objects in the form of normal systems of third-order nonlinear differential equations for the wheeled robot and seventh-order ones for the vessel are presented.
Design formulas of the method in general form for terminal and stabilizing controls are shown.
A routine of obtaining calculation expressions for control actions is shown.
Results of computer simulation of bringing the robot to a given point in a given time, as well as bringing the vessel to a given course during a “strong” maneuver, are described.
American Psychological Association (APA)
Shushlyapin, E. A.& Bezuglaya, A. E.. 2018. Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel. Journal of Applied Mathematics،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1176017
Modern Language Association (MLA)
Shushlyapin, E. A.& Bezuglaya, A. E.. Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel. Journal of Applied Mathematics No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1176017
American Medical Association (AMA)
Shushlyapin, E. A.& Bezuglaya, A. E.. Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel. Journal of Applied Mathematics. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1176017
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1176017